System and method for plant treatment based on neighboring effects

ABSTRACT

A method for plant treatment, including: receiving a first measurement for a plant from a sensor as the sensor moves within a geographic area comprising a plurality of plants; in response to receipt of the first measurement and prior to receipt of a second measurement for a second plant of the plurality, determining a set of treatment mechanism operation parameters for the plant to optimize a geographic area output parameter based on the first measurement and historical measurements for the geographic area; determining an initial treatment parameter for the plant; and operating a treatment mechanism in a treatment mode based on the set of operating parameters in response to satisfaction of the initial treatment parameter.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/511,866 filed on Jul. 15, 2019, which is a continuation of U.S.patent application Ser. No. 14/444,919 filed on Jul. 28, 2014, (now U.S.Pat. No. 10,390,497 issued on Aug. 27, 2019), which claims benefit ofprovisional of U.S. Patent Application Ser. No. 61/859,109, filed onJul. 26, 2013, all of these applications are hereby incorporated byreference.

This application is related to U.S. application Ser. No. 13/788,320filed Mar. 7, 2013, which is incorporated in its entirety by thisreference.

TECHNICAL FIELD

This invention relates generally to the agricultural field, and morespecifically to a new and useful automated system and method oftreatment selection and application in the agricultural field.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic representation of a plant treatment systemoperating within a geographic area including a plurality of plants.

FIGS. 2A and 2B are end and side views of a variation of the planttreatment system.

FIGS. 3, 4, and 5 are a schematic representation of a first, second, andthird variation of the plant treatment system, respectively, and ameasurement captured by the detection mechanism of the respective planttreatment system.

FIGS. 6A, 6B, and 6C are schematic representations of a first, second,and third detection mechanism orientation relative to a plant, substrateplane and/or gravity vector.

FIG. 7 is a schematic representation of a variation of a spraymechanism, wherein the spray mechanism can optionally include asecondary reservoir.

FIG. 8 is a schematic representation of a high-pressure spray mechanismoperating in the treatment mode.

FIGS. 9A, 9B, and 9C are schematic representations of a first, second,and third example dislodgement profile, respectively.

FIGS. 10A, 10B, and 10C are schematic representations of a system,including a high-pressure spray dislodgement mechanism: identifying aplant and junction distance, operating high-pressure spray dislodgementmechanism in the treatment mode at an initial spray position, andadjusting the spray pattern as a function of nozzle proximity to thejunction distance, respectively.

FIGS. 11A and 11B are schematic representations of a first variation ofan electric discharge mechanism applying electric discharge to a plantand a resultant cauterized plant section, respectively.

FIG. 12 is a schematic representation of a second variation of anelectric discharge mechanism applying electric discharge to a plant.

FIGS. 13A, 13B, and 13C are schematic representations of low-pressurespray mechanism treatment of a plant in a first, second, and thirdorientation, respectively.

FIG. 14 is a flowchart diagram of the method of plant treatment.

FIG. 15 is a flowchart diagram of a variation of the method of planttreatment.

FIGS. 16A and 16B are schematic representations of treatment mechanismselection in a first and second variation of the treatment mechanism,respectively.

FIGS. 17A and 17B is a schematic representation of selecting a treatmentfor a plant based on geographic area output parameter optimization andtreating the plant with the selected treatment, respectively.

FIGS. 18, 19, and 20 are schematic representations of indirecttreatments of secondary plants due to primary plant treatment for afirst, second, and third treatment variant, respectively.

FIG. 21 is a schematic representation of treatment selection based onanticipated indirect secondary plant treatment.

FIGS. 22A and 22B are schematic representations of: creating a highresistance plant section by reducing the cross-section of the plantsection; and applying electric discharge to a plant portion distalelectric ground, across from the plant section, respectively.

FIGS. 23A and 23B are schematic representations of: emitting chargeddroplets of a single polarity into the ambient environment surrounding aplant and electrically connecting the plant to the charging mechanism;and a circuit representative of the resultant system, respectively.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following description of the preferred embodiments of the inventionis not intended to limit the invention to these preferred embodiments,but rather to enable any person skilled in the art to make and use thisinvention.

1. System

As shown in FIG. 1, the system 10 for plant treatment includes adetection mechanism 100, a treatment mechanism 200, and a controlsystem. The system 10 can additionally include a mounting mechanism 400,a verification mechanism, a power source, digital memory, communicationapparatus, or any other suitable component.

The system 10 functions to apply a treatment to one or multiple plantswithin the geographic area. The treatment preferably functions toregulate plant growth. The treatment is preferably directly applied to asingle plant (e.g., hygroscopic material), but can alternatively bedirectly applied to multiple plants, indirectly applied to one or moreplants, applied to the environment associated with the plant (e.g.,soil, atmosphere, or other suitable portion of the plant environmentadjacent to or connected by an environmental factor, such as wind), orotherwise applied to the plants. Treatments that can be applied includenecrosing the plant, necrosing a portion of the plant (e.g., pruning),regulating plant growth, or any other suitable plant treatment.Necrosing the plant can include dislodging the plant from the supportingsubstrate S110, incinerating a portion of the plant, applying anecrosing concentration of working fluid (e.g., fertilizer, hormone,water, etc.) to the plant, or necrosing the plant in any other suitablemanner. Regulating plant growth can include promoting plant growth,promoting growth of a plant portion, hindering (e.g., retarding) plantor plant portion growth, or otherwise controlling plant growth. Examplesof regulating plant growth includes applying growth hormone to theplant, applying fertilizer to the plant or substrate, applying a diseasetreatment or insect treatment to the plant, electrically stimulating theplant, watering the plant, pruning the plant, or otherwise treating theplant. Plant growth can additionally be regulated by pruning, necrosing,or otherwise treating the plants adjacent the plant.

The plants are preferably crops, but can alternatively be weeds or anyother suitable plant. The crop is preferably corn, but can alternativelybe lettuce, soy beans, rice, carrots, tomatoes, broccoli, cabbage,potatoes, wheat or any other suitable commercial crop. The plant fieldin which the method is used is preferably an outdoor plant field, butcan alternatively be plants within a greenhouse, a laboratory, a growhouse, a set of containers, a machine, or any other suitableenvironment. The plants are preferably grown in one or more plant rows(e.g., plant beds), wherein the plant rows are preferably substantiallyparallel, but can alternatively be grown in a set of plant pots, whereinthe plant pots can be ordered into rows or matrices or be randomlydistributed, or be grown in any other suitable configuration. The croprows are preferably spaced between 2 inches to 45 inches apart (e.g. asdetermined from the longitudinal row axis), but can alternatively bespaced any suitable distance apart. The plants within each plant field,plant row, or plant field subdivision preferably includes the same typeof crop (e.g. same genus, same species, etc.), but can alternativelyinclude multiple crops (e.g., a first and a second crop), both of whichare to be analyzed. Each plant preferably includes a stem, arrangedsuperior (e.g., above) the substrate 70, which supports the branches,leaves, and fruits of the plant. Each plant can additionally include aroot system joined to the stem, located inferior the substrate plane(e.g., below ground), that supports the plant position and absorbsnutrients and water from the substrate 70. The plant can be a vascularplant, non-vascular plant, ligneous plant, herbaceous plant, or be anysuitable type of plant. The plant can have a single stem, multiplestems, or any number of stems. The plant can have a tap root system or afibrous root system. The substrate 70 is preferably soil, but canalternatively be a sponge or any other suitable substrate.

The system 10 can additionally function to traverse through a geographicarea, such as a field. The system 10 is preferably a ground-basedsystem, but can alternatively be an airborne system or any othersuitable system. The system 10 can be configured (e.g., be sized) tospan at least a first and a second crop furrow (e.g., encompass a croprow), as shown in FIG. 3; be configured to translate along a singlefurrow, as shown in FIG. 4; be configured to translate between stems ofadjacent plants (e.g., sized on the order of several inches), as shownin FIG. 5; be configured to encompass an entire or substantial portionof a crop field, or have any other suitable dimension. The system 10 ispreferably a passive system, and removably or permanently mounts to adriving mechanism, such as a tractor, that applies a driving force(e.g., a pulling or pushing force) to translate the system within thegeographic area. Alternatively, the system can be an active system, andtranslate within the geographic area automatically or in response toreceipt to driving instructions.

The system 10 can additionally function to automatically identify aplant within the geographic area. The system 10 preferably identifiesthe plant based on measurements from the detection mechanism 100, butcan alternatively identify the plant in any other suitable manner. Theplant is preferably identified (uniquely or generically) based on aplant identifier, wherein information associated with the plant can beretrieved based on the plant identifier, but the plant can alternativelybe generically identified or otherwise identified. The plant identifiercan be a geographic location (e.g., set of geographic coordinates,location relative to a predetermined location, etc.), a pattern of plantfeatures (e.g., stomatal pattern, etc.), a growth or necrosis pattern ofsecondary plants adjacent the plant 40, a unique marker adjacent theplant, or any other suitable unique identifier.

The system 10 can additionally function to determine a treatment for aplant. The system 10 preferably individually determines a treatment foreach individual plant, but can alternatively determine a treatment formultiple adjacent plants, multiple plants within the geographic area, ordetermine a treatment for any other suitable set of plants. The system10 can additionally select a treatment mechanism 200 from a plurality oftreatment mechanisms and/or determine a set of operation parameters forthe treatment mechanism 200 based on the determined treatment.

The treatment is preferably determined to optimize an output parameterfor the geographic area (geographic area output parameter). Geographicarea output parameter optimization can include minimizing or maximizingthe geographic area output parameter, or otherwise optimizing thegeographic area output parameter. The geographic area output parametercan include plant or crop yield (e.g., crop yield, agronomical output,or crop per unit area of geographic area or land cultivation, etc.),color, size, compound concentration (e.g., sugar concentration),compound quantity (e.g., sugar quantity), uniformity (e.g., inter-plantspacing, plant size, etc.), crop concentration per plant, input cost(e.g., minimize input cost), risk (e.g., minimize input risk), or anyother suitable geographic area output parameter. The crop can includethe fruit, leaves, stems, roots, entirety, or any other suitable portionof a plant. In one variation of the method, optimizing the geographicarea output parameter includes maximizing crop yield for the geographicarea (e.g., field or section thereof). In another variation of themethod, optimizing the geographic area output parameter includesminimizing the number of weeds within the geographic area (e.g., fieldor section thereof). In one example of the method, treatments areapplied to plants to speed up or slow down the plant's development, suchthat the plant ripens at substantially the same time as the majority ofsimilar plants within the geographic area (e.g., within a margin oferror of several minutes, hours, days, weeks, or months).

The treatment can additionally or alternatively be determined tooptimize an output parameter for a plant or crop. Plant outputparameters can include measures of plant health (e.g., visualparameters, such as an amount of green light reflected by the plant or aratio of green to brown light reflected by the plant, haptic parameters,such as turgidity, audio parameters, such as ultrasound measurements,dimension measurements, etc.), plant yield (e.g., the fruitconcentration on the plant), plant color, plant composition, plantbalance (e.g., plant lean toward one side), or any other suitable plantparameter.

The treatment can additionally or alternatively be determined based onhistorical measurements for the geographical area. The historicalmeasurements can include historical treatments on the plant, historicaltreatments on secondary plants associated with the plant by an ambientenvironment feature (e.g., landform, wind, soil conductivity,temperature, humidity, etc.), historical ambient environment parameters(e.g., amount of sunlight, amount of waterfall, amount of wind, etc.),or any other suitable historical measurements. The treatment canalternatively or additionally be determined based on classifiers,machine learning outputs, or any other suitable parameter determinedfrom historical measurements.

The treatment can additionally or alternatively be determined based onanticipated measurements for the geographical area. Anticipatedmeasurements can include forecasted weather (e.g., light, wind, rain,electricity, etc.), forecasted treatments to secondary plants 50 withinthe geographic area, forecasted treatments to tertiary plants within asecond geographic area different from the first geographic area, or anyother suitable anticipated measurements. Anticipated measurements canadditionally include anticipated effects of previous treatments onpreviously treated plants 20. However, the treatment can be selectedbased on any other suitable anticipated measurement, or any othersuitable output parameter associated with the crop, plant, or geographicarea.

The detection mechanism 100 of the plant treatment system 10 functionsto record a measurement 102 of the ambient environment of the system 10,more preferably a measurement of the geographic area, even morepreferably a measurement of a plant within the geographic area. Theplant is preferably identified based on the measurement 102 (firstmeasurement). The detection mechanism 100 is preferably configured torecord the measurements during system movement or traversal within thegeographic area, but can alternatively or alternatively record themeasurements when the system is static within the geographic area. Thedetection mechanism 100 preferably sends the measurement to the controlsystem for processing and subsequent plant identification, but canalternatively process the measurement to identify the plant itself.

The detection mechanism 100 preferably includes a measurement area, suchas a field of view or any other suitable measurement area. The detectionmechanism 100 can be an optical sensor (e.g., a spectral imagingsystem), acoustic sensor, haptic sensor, electromagnetic sensor, or anyother suitable sensor. The system 10 can include one or more detectionmechanisms. The measurement can be a single image, a set of images, aforce change, a resistivity change, an audio pattern, an object profile,a geographic location (e.g., set of coordinates), or any other suitablemeasurement. The detection mechanism 100 is preferably arranged with themeasurement area oriented at an angle relative to the gravity vector orthe substrate plane, such that the measurement includes both thesubstrate plane and all or a portion of the plant. However, themeasurement can alternatively only include the plant, the substrateplane, or any other suitable vector. In a first variation, as shown inFIG. 6A, the detection mechanism measurement area includes a vectorparallel to the substrate surface (e.g., such that the detectionmechanism 100 is oriented horizontally and/or measures a side of theplant). In a second variation, as shown in FIG. 6B, the detectionmechanism measurement area includes a vector parallel to a gravityvector (e.g., such that the detection mechanism 100 is oriented abovethe plant and/or measures the top of the plant or a length of theplant). In a third variation, as shown in FIG. 6C, the detectionmechanism measurement area includes a vector at an angle between a planeof the substrate surface and a gravity vector (e.g., such that thedetection mechanism 100 measures both a portion of the plant and aportion of the substrate 70). However, the detection mechanism 100 canbe otherwise angled. The detection mechanism angle is preferably fixed,but can alternatively be adjustable. The detection mechanism 100 can bearranged at a fixed height or distance from the substrate 70 (e.g.,within a foot of the substrate, within three feet of the substrate,within ten feet of the substrate, etc.), or can have an adjustableheight.

In a first variation, the detection mechanism 100 includes astereocamera Or plenoptic camera that records a stereoview (e.g., animage formed from a first and second image). The stereocamera caninclude a first and second lens, a first and second optical sensor(e.g., CCD), or be any other suitable stereocamera. The stereocamera ispreferably arranged such that the alignment axis of the first and secondimages is substantially parallel the substrate plane or rotational axesalignment axis of a first and second system wheel 11, but canalternatively be arranged such that the alignment axis of the first andsecond images is arranged within a plane substantially parallel thesubstrate plane or perpendicular a gravity vector. However, thestereocamera can be otherwise arranged.

In a second variation, the detection mechanism 100 includes amultispectral camera that captures image data at specific frequenciesacross the electromagnetic spectrum. The wavelengths can be separated byfilters, recorded by sensors that are sensitive to specific wavelengths,or otherwise specifically identified. The multispectral camera cancapture images at a single wavelength or multiple wavelengths. Thewavelengths can include wavelengths between 515 to 600 nm (green), 450to 520 nm (blue), 600 to 690 nm (red), 750-900 nm (near infrared),1550-1750 nm (mid-infrared, e.g., to further identify soil moisturecontent, etc.), 2080-2350 nm (mid-infrared, e.g., to image soil,moisture, geographical features, etc.), 10400-12500 nm (thermalinfrared), or any other suitable wavelength. The spectral band usage canbe true-color, green-red-infrared, blue-NIR-MIR, or any other suitablecombination. The electromagnetic waves can be ambient electromagneticwaves (e.g., provided by a star, such as the sun), but can alternativelybe provided by any other suitable electromagnetic wave source.

However, the detection mechanism 100 can be a CCD camera, single lenscamera, monocular camera, projected light imaging system, projectedpattern imaging system, scanning imaging system, time-of-flight system,hyperspectral imaging system, LIDAR system (light detection and rangingsystem), dyanmometer, IR camera, thermal camera, geographic locationsensor (e.g., a GPS system, cellular tower triangulation system, etc.),or any other suitable detection mechanism 100 capable of recording ameasurement from which a plant can be identified. The detectionmechanism 100 can additionally or alternatively include an ambientenvironment sensor, such as a light sensor, temperature sensor, humiditysensor, wind speed sensor, or any other suitable sensor.

The detection mechanism 100 can additionally include a signal emitterthat functions to provide a signal, wherein the reflectance of thesignal is captured by the detection mechanism 100. The emitter can belight having a set of electromagnetic wavelengths, an array of lights(e.g., a grid of lasers), sound having a set of acoustic wavelengths, oremit any other suitable signal. The emitter is preferably staticallymounted relative to a detection mechanism mounting point, but canalternatively be mobile relative to the detection mechanism mountingpoint.

The detection mechanism 100 can additionally include a shield thatfunctions to block ambient environmental signals from interfering withthe detection mechanism measurement. For example, the shield can be asun shield that functions to block sunlight from the plant duringdetection mechanism measurement. The shield can be an EMI shield, alight shield, an acoustic shield, a wind shield, or a shield for anyother suitable ambient environment feature. The shield is preferablyused with a system including an emitter, but can alternatively be usedindependent of systems including emitters. The shield can additionallyor alternatively block ambient environment forces or substances from thetreatment area (e.g., form a controlled environment about the plant).For example, the shield can block wind from the volume surrounding theplant to be treated.

The treatment mechanism 200 of the system 10 functions to apply atreatment to the identified plant. The treatment mechanism 200preferably includes an active area 201 to which the treatment mechanism200 applies the treatment. The effect of the treatment can include plantnecrosis, plant growth stimulation, plant portion necrosis or removal,plant portion growth stimulation, or any other suitable treatmenteffect. The treatment can include plant dislodgement from the substrate70, severing the plant (e.g., cutting), plant incineration, electricalstimulation of the plant, fertilizer or growth hormone application tothe plant, watering the plant, light or other radiation application tothe plant, injecting one or more working fluids into the substrate 70adjacent the plant (e.g., within a threshold distance from the plant),or otherwise treating the plant. The treatment mechanism 200 ispreferably operable between a standby mode, wherein the treatmentmechanism 200 does not apply a treatment, and a treatment mode, whereinthe treatment mechanism 200 is controlled to apply the treatment.However, the treatment mechanism 200 can be operable in any othersuitable number of operation modes.

The system 10 can include a single treatment mechanism 200, or caninclude multiple treatment mechanisms. The multiple treatment mechanismscan be the same type of treatment mechanism, or be different types oftreatment mechanisms. The treatment mechanism 200 can be fixed (e.g.,statically coupled) to the mounting mechanism 400 or relative to thedetection mechanism 100, or actuate relative to the mounting mechanism400 or detection mechanism 100. For example, the treatment mechanism 200can rotate or translate relative to the detection mechanism 100 and/ormounting mechanism 400. In one variation, the system 10 includes anarray of treatment mechanisms, wherein a treatment mechanism 200 of thearray is selected to apply the treatment to the identified plant inresponse to identification of the plant and the plant position relativeto the array. In a second variation, the system 10 includes a singletreatment mechanism, wherein the treatment mechanism is actuated or thesystem 10 moved to align the treatment mechanism active area with thetargeted plant segment.

In a first variation, as shown in FIG. 7, the treatment mechanism 200can include a spray mechanism, more preferably a high pressure spraymechanism, wherein the active area includes a spray area. The highpressure spray mechanism preferably functions to spray a high pressurejet or spray to dislodge the plant from the substrate, but canalternatively or additionally function to apply a force (e.g., a cuttingforce) to an portion of the plant (e.g., plant stem, leaf, branch, root,or any other suitable plant portion) or substrate, or function to treatthe plant in any other suitable manner. The high pressure spraymechanism preferably does not spray working fluid in the standby mode,and sprays a working fluid, more preferably a working liquid, in thetreatment mode. The working fluid can be water, fertilizer, growthhormone, or any other suitable fluid. The working fluid is preferablyemitted (e.g., sprayed) at a spray pressure of approximately 1,200 psi,within a margin of error (e.g., a 5% margin of error, 2% margin oferror, etc.), but can alternatively be emitted at a pressure between 900psi and 3,200 psi, or at any other suitable pressure. The nozzle ispreferably positioned within several centimeters (e.g., 1 cm, 5 cm, 10cm, etc.) of the substrate surface, but can alternatively be positioneda meter away from the substrate surface, 10 meters away from thesubstrate surface, or positioned any suitable distance away from thesubstrate surface. The high pressure spray mechanism preferably spraysworking fluid at 1,500 psi, but can alternatively spray working fluid at500 psi, 10 psi, 3,000 psi, or any other suitable pressure.

The high pressure spray mechanism preferably includes a nozzle 211. Thenozzle 211 is preferably oriented at a 20 degree angle relative to thesubstrate plane, but can alternatively be oriented at a 45 degree angle,30 degree angle, 90 degree angle (e.g., pointing straight down at thesubstrate plane), or any other suitable angle 213 relative to thesubstrate plane, as shown in FIG. 8. The nozzle 211 can alternatively beactuatable relative to the mounting mechanism or detection mechanism.The nozzle 211 is preferably operable between a first and second modethat results in a first and second spray pattern 212, respectively, inthe treatment mode, as shown in FIGS. 10A, 10B, and 10C. However, thenozzle 211 can be operable in any suitable number of modes. The firstspray pattern preferably functions to create an initial crack in thesubstrate 70, while the second spray pattern functions to remove wideswaths of substrate 70. The first spray pattern is preferably a solidstream (e.g., solid cone), but can alternatively be a hollow cone, fullcone, or any other suitable spray pattern capable of providing a highimpact per unit area. The second spray pattern is preferably a flatspray pattern (e.g., a flat fan), capable of covering a larger area thanthe first spray pattern. Nozzle operation preferably smoothlytransitions from the first spray pattern to the second spray pattern,but can alternatively transition from the first spray pattern to thesecond spray pattern in a stepwise manner (e.g., suddenly transitionfrom the first spray pattern to the second spray pattern).Alternatively, the first and second spray patterns can each be createdby a first and second nozzle, respectively. The nozzle 211 is preferablya single-fluid nozzle, but can alternatively be a multiple-fluid nozzle.The nozzle 211 can be a plain-orifice nozzle, a shaped-orifice nozzle, asurface-impingement single-fluid nozzle, a pressure-swirl single-fluidspray nozzle, a solid-cone single-fluid nozzle, a compound nozzle, aninternal mix two-fluid nozzle, external-mix two-fluid nozzle, or anyother suitable nozzle. The nozzle 211 can have a fixed aperture or anactuatable aperture. Nozzle emission (e.g., nozzle spray) is preferablycontrolled by a solenoid 226, but can alternatively be controlled by avalve or any other suitable control mechanism. The solenoid 226preferably controls the nozzle to open (e.g., spray) in response toreceipt of a spray command from the control system, but canalternatively be passively or mechanically controlled.

The high pressure spray mechanism can additionally include apressurization system 220, including a reservoir 221 and a pump 222. Thehigh pressure spray mechanism can additionally include a bypass valve223 fluidly connecting an inlet manifold 228 fluidly connected to thereservoir 221, a first outlet manifold 224 fluidly connected to thereservoir 221, and a second outlet manifold 225 fluidly connected to thenozzle 211. The bypass valve 223 is preferably operable between a closedmode, wherein the bypass valve 223 fluidly disconnects the nozzle 211from the reservoir 221, and an open mode, wherein the bypass valve 223fluidly connects the nozzle 211 to the reservoir 221, more preferablyfluidly connects the inlet manifold with the nozzle 211. The bypassvalve 223 can be passive, wherein the cracking pressure is substantiallythe same as the desired spray pressure, or can be active, wherein bypassvalve actuation from the closed to open mode is actively controlled,such as by the control system. The bypass valve 223 can fluidlydisconnect (e.g., seal) the inlet manifold from the first outletmanifold 224, or fluidly connect all three fluid manifolds. The pump 222preferably pressurizes the reservoir 221 to the spray pressure bypumping the working fluid into the inlet manifold, through the bypassvalve 223, and through the first outlet manifold 224 into the reservoir221. The pump 222 can pressurize the reservoir 221 with secondary fluidfrom the ambient environment (e.g., from a fluid source or air), orpressurize the working fluid in the reservoir 221 in any other suitablemanner. The bypass valve 223 preferably opens in response to the inletmanifold fluid pressure substantially meeting or exceeding the desiredspray pressure, such that the inlet manifold is fluidly connected to thenozzle 211. In this variation, the treatment mechanism 200 canadditionally include a pressure sensor or flow sensor that measures thefluid pressure or flowrate at the nozzle 211, inlet manifold, bypassvalve 223, first outlet manifold 224, second outlet manifold 225, orreservoir 221, wherein the treatment parameters (e.g., initial spraytime or position) can be subsequently adjusted or determined based onthe measured working fluid parameters.

The high pressure spray mechanism can additionally or alternativelyinclude a secondary reservoir 227 (e.g., accumulator) fluidly connectedto the first reservoir 221 and the nozzle 211, wherein the pump 222pumps working fluid from the reservoir 221 to the accumulator 227. Theaccumulator 227 functions to retain a volume of working fluid sufficientto spray a predetermined number of plants. The accumulator 227 canadditionally function to pressurize the fluid. The accumulator 227preferably fluidly connected to the reservoir 221 between the pump 222and the nozzle 211. The high pressure spray mechanism can additionallyinclude a valve that controls fluid flow between the accumulator 227 andthe nozzle 211. When a bypass valve 223 is used, as in the variantdescribed above, the accumulator 227 is preferably fluidly connected tothe inlet manifold between the pump 222 and the valve 223. Theaccumulator 227 is preferably connected in parallel with the nozzle 211,but can alternatively be connected in series with the nozzle 211. Theaccumulator 227 can be additionally fluidly connected to a secondaryworking fluid reservoir, wherein metered amounts of secondary workingfluid (e.g., fertilizer, growth hormone, etc.) can be provided to theaccumulator 227 to mix with the primary working fluid (e.g., water)within the accumulator 227. However, the high pressure spray mechanismcan include any other suitable components.

In a second variation, the treatment mechanism 200 can include anelectrical discharge mechanism, which functions to apply electricdischarge 245 to a plant. The electric discharge can stimulate theplant, cauterize (e.g., necrose, incinerate) the plant, or otherwisetreat the plant. The electric discharge preferably has a high voltage(e.g., large potential) and a large current, but can alternatively havea high voltage and low current, low voltage and high current, or haveany other suitable electrical parameters. The electric dischargeparameters are preferably set, but can alternatively be adjustable(e.g., based on the system traversal velocity, ambient environmentelectrical conductivity, etc.). The electrical discharge voltage ispreferably approximately 50,000V (e.g., within a margin of error, suchas 5% error, 2% error, etc.), but can alternatively be between 10,000 Vand 100,000 V, or have any other suitable value. The electric dischargepower is preferably related to the size of the plant, but canalternatively be related to any other suitable plant parameter. Theelectric discharge can be an electrostatic discharge (e.g., plasmadischarge), corona discharge, dielectric barrier discharge, brushdischarge, electric arc, leader, partial discharge, electric glowdischarge, or any other suitable electrical discharge. The electricdischarge mechanism is preferably actuatable relative to the mountingmechanism 400 or detection mechanism 100, such that the electricdischarge can be applied to a specific portion of the plant, but canalternatively be static relative to the mounting mechanism 400 ordetection mechanism 100.

The electrical discharge mechanism is preferably a Tesla coil 240, butcan alternatively be a corona discharge mechanism, dielectric barrierdischarge mechanism, or any other suitable discharge mechanism. As shownin FIGS. 11A and 11B, the Tesla coil 240 preferably includes a primarycoil 241 extending in parallel with a longitudinal axis of a secondarycoil 242, wherein the primary coil 241 encircles the secondary coil 242.The secondary coil 242 preferably functions as electrical ground, whilethe primary coil 241 is held at an elevated voltage, such that apotential difference is maintained between the primary and secondarycoils. The primary and secondary coils are preferably concentric, butcan alternatively be coaxial, offset, or arranged in any other suitableconfiguration. The primary and secondary coils are preferablyelectrically connected together in parallel, but can alternatively beelectrically connected in series. However, the Tesla coil 240 caninclude any suitable number of coils electrically connected in parallel,in series, or a combination thereof. The Tesla coil 240 can additionallyinclude a conducting wire electrically connected to the primary and/orsecondary coil that functions to direct the electrical discharge. Theconducting wire is preferably flexible, such that a linear segment ofthe plant (e.g., selected for electric discharge application) is capableof contacting a linear segment of the conducting wire, but canalternatively be substantially rigid, such that a segment of the plantcontacts a point of, a small segment of, or does not contact theconducting wire, or such that the conducting wire is capable ofmechanically penetrating a portion of the stem or branch. Alternatively,as shown in FIG. 12, the electric discharge mechanism can include afirst electrode 243 and second electrode 244 biased at differentelectrical potentials, or include any other suitable electric dischargemechanism.

In a third variation, the treatment mechanism 200 can include a lowpressure spray mechanism 210 that functions to apply a working fluid tothe plant. The application is preferably mechanically non-destructive,but can alternatively be destructive. The working fluid is preferablyapplied to the top-facing leaves of the plant (as shown in FIG. 13A),but can alternatively be applied to any plant structure superior (e.g.,above) the substrate 70, such as the side of the plant (as shown in FIG.13B), the top of the plant (as shown in FIG. 13C), or any other suitablestructure. The working fluid is preferably one or more growth hormones,but can alternatively be fertilizer, water, insecticide, fungicide,barbicide, dessicants, defoliants, plant growth regulators, or any othersuitable working fluid. The working fluid can be liquid, solid, gas,liquid with suspended particulates, or have any other suitablecomposition. The low pressure spray mechanism 210 preferably generates amist of the working fluid (e.g., an atomized spray or aerosol of theworking fluid), but can alternatively generate droplets of any suitablesize to mist, spray, or otherwise apply the working fluid to the plant.The low pressure spray mechanism 210 preferably includes a nozzle 211, areservoir 221, and a pump 222. The low pressure spray mechanism 210 canbe substantially similar to the high pressure spray mechanism, or can besubstantially different. The nozzle 211 of the low pressure spraymechanism 210 can be rotary atomizer, ultrasonic atomizer, vibratingorifice aerosol generator, aerosol spray, electrospray, any of thenozzles described for the high pressure spray mechanism, or any othersuitable aerosol-generating mechanism. The low pressure spray mechanism210 can additionally include a fan or other carrying fluid movementmechanism that functions to bias the droplets toward the target plant,wherein the carrying fluid is preferably air, but can alternatively bewind, water, or any other suitable ambient fluid. Alternatively, thesystem 10 can include an ambient wind monitoring sensor, wherein nozzlesupstream of the targeted plant portion are actuated to dispense theworking fluid to the targeted plant portion. The low pressure spraymechanism 210 can apply the working fluid at a low pressure (e.g., lessthan 1 psi), between 5-10 psi, between 5-25 psi, or at any othersuitable pressure.

The droplets emitted by the low pressure spray mechanism 210 can beuncharged or charged, such that the droplets are attracted to the plant.The droplets are preferably charged to a single polarity (e.g., suchthat only positively or negatively charged droplets are emitted), butcan alternatively be charged to with both positive and negative charges.The droplets are preferably charged by a charging mechanism, such as anelectrode (e.g., a rail electrode, a circular electrode, a pointelectrode, etc.). The charging mechanism preferably functions togenerate a charging field proximal the low pressure spray mechanismorifice, more preferably at a point external the low pressure spraymechanism but alternatively at a point internal the low pressure spraymechanism 210. The charging mechanism can charge the droplets as thedroplets are formed, before the droplets are formed, or after thedroplets are formed. The charging mechanism can be located within thelow pressure spray mechanism orifice (e.g., aligned with the orificecentral axis, etc.), encircle the low pressure spray mechanism orifice,be offset from the low pressure spray mechanism orifice (e.g., locatedin a separate plane than that of the orifice), be arranged adjacent andexternal the orifice, or be arranged in any other suitableconfiguration. However, the droplets can be otherwise charged. Invariants in which droplets of a single polarity are emitted, the lowpressure spray mechanism 210 can additionally include an electricalconnection that electrically connects the charging mechanism to theplant, such that the plant forms a portion of a circuit (e.g., functionsas the electrical ground or is charged to the polarity opposing that ofthe droplets, thereby attracting the charged droplets).

The control system of the system 10 functions to control treatmentmechanism operation. The control system can additionally function toselect the treatment mechanism operation parameters. The control systemcan additionally function to process the detection and/or verificationmechanism measurements to extract plant parameters, such as the plantdistance from the detection mechanism 100, the plant size, the plantprofile, the plant junction 60 with the substrate 70, the plant color,the plant orientation, the plant electrical conductivity, the plantcomposition, the plant emissions (e.g., volatile organic compoundemissions), the plant nutrient status, the presence or absence ofdisease symptoms, the presence, absence and/or quantification of pests(e.g. insects), any other suitable plant parameter indicative of planthealth, or any other suitable plant parameter. The control system canadditionally function to process the detection mechanism measurements toextract ambient environment parameters, such as incident light (e.g.,wherein the detection mechanism 100 is a light sensor), wind speed,temperature, humidity, soil conductivity, or any other suitable ambientenvironmental parameter. The control system can additionally function tocommunicate (e.g., send and/or receive data to and/or from) a remotecomputing device, such as a mobile device, server system, or any othersuitable device. The control system is preferably a computing systemincluding one or more PCBs, but can alternatively be any other suitablecontrol system. The control system is preferably electrically connectedto the detection mechanism 100 and/or verification mechanism 500,wherein the control system receives measurements from the detectionmechanism 100 and/or verification mechanism 500. The control system canadditionally send control information (e.g., focusing information,filtering information, actuation information, etc.) to the detectionand/or verification mechanism. The control system is preferablyelectrically connected to the treatment mechanism 200, wherein thecontrol system can send control information to the treatment mechanism200. The control system can additionally receive the actual treatmentmechanism operation parameters from the treatment mechanism 200concurrently or after treatment mechanism operation. However, thecontrol system can control and/or receive information from any othersuitable system component.

The control system can additionally include digital memory, whichfunctions to transiently or permanently retain settings, measurements,or any other suitable data. The digital memory is preferably flashmemory, but can alternatively or additionally be RAM or any othersuitable memory.

The system 10 can additionally include a mounting mechanism 400 thatfunctions to provide a mounting point for the system components. In oneexample, as shown in FIGS. 2A and 2B, the mounting mechanism 400(support structure) statically retains the positions of the detectionmechanism 100, the treatment mechanism 200, and the verificationmechanism 500 relative to a longitudinal axis of the mounting mechanism400. The mounting mechanism 400 is preferably a chassis or frame, butcan alternatively be any other suitable mounting mechanism. The mountingmechanism 400 preferably includes a first set of coaxial wheels, eachwheel of the set arranged along an opposing side of the mountingmechanism 400, and can additionally include a second set of coaxialwheels, wherein the rotational axis of the second set of wheels ispreferably parallel the rotational axis of the first set of wheels.However, the mounting mechanism 400 can include any suitable number ofwheels in any suitable configuration. The mounting mechanism 400preferably includes a coupling mechanism 402, such as a hitch, thatfunctions to removably or statically couple to a drive mechanism, suchas a tractor, more preferably to the rear of the drive mechanism (suchthat the system 10 is dragged behind the drive mechanism), butalternatively the front of the drive mechanism or to the side of thedrive mechanism. Alternatively, the mounting mechanism 400 can includethe drive mechanism (e.g., a motor and drive train coupled to the firstand/or second set of wheels). The detection mechanism 100 is preferablymounted to the mounting mechanism 400, such that the detection mechanism100 traverses over a geographic location before the treatment mechanism200 traverses over the geographic location. In one variation of thesystem 10, the detection mechanism 100 is statically mounted to themounting mechanism 400 proximal the coupling mechanism and the treatmentmechanism 200 is mounted to the mounting mechanism 400 distal thecoupling mechanism, with the detection mechanism 100 arrangedtherebetween. In variants including a verification mechanism 500, theverification mechanism 500 is preferably arranged distal the detectionmechanism 100, with the treatment mechanism 200 arranged therebetween,such that the verification mechanism 500 traverses over the geographiclocation after treatment mechanism traversal. However, the mountingmechanism 400 can retain the relative positions of the system componentsin any other suitable configuration.

The system 10 can additionally include a verification mechanism 500 thatfunctions to record a measurement of the ambient environment of thesystem 10, which is used to verify or determine the extent of planttreatment. The verification mechanism 500 preferably records ameasurement of the geographic area previously measured by the detectionmechanism 100. More preferably, the verification mechanism 500 records ameasurement of the geographic region encompassing the plant treated bythe treatment mechanism 200. The verification mechanism measurement canadditionally be used to empirically determine (e.g., calibrate)treatment mechanism operation parameters to obtain the desired treatmenteffect. The verification mechanism 500 can be substantially similar(e.g., be the same type of mechanism as) the detection mechanism 100, orbe different from the detection mechanism 100. The verificationmechanism 500 can be a multispectral camera, a stereocamera, a CCDcamera, a single lens camera, hyperspectral imaging system, LIDAR system(light detection and ranging system), dyanmometer, IR camera, thermalcamera, humidity sensor, light sensor, temperature sensor, or any othersuitable sensor. In one variation, the verification mechanism 500measures plant position, wherein comparison between the plant positionas measured by the detection mechanism 100 and the verificationmechanism 500 enables determination of plant dislodgement. In anothervariation, the verification mechanism 500 measures plant color, whereincomparison between the plant color as measured by the detectionmechanism 100 and the verification mechanism 500 enables determinationof plant cauterization. In another variation, the verification mechanism500 measures an amount of dye color, wherein the dye is included in theworking fluid. However, the verification mechanism 500 can be used tomeasure any other suitable parameter indicative of plant treatment. Theverification mechanism 500 is preferably arranged at the same angle asthe detection mechanism 100, but can alternatively be arranged at adifferent angle (e.g., at an angle between a gravity vector or a 90degree angle to the substrate plane and a vector perpendicular to thegravity vector or parallel to the substrate plane).

The system 10 can additionally include a power source, which functionsto power the system components, including the detection mechanism 100,control system, and treatment mechanism 200. The power source can bemounted to the mounting mechanism 400, can be removably coupled to themounting mechanism 400, or can be separate from the system (e.g.,located on the drive mechanism). The power source can be a rechargeablepower source (e.g., a set of rechargeable batteries), an energyharvesting power source (e.g., a solar system), a fuel consuming powersource (e.g., a set of fuel cells or an internal combustion system), orany other suitable power source.

The system 10 can additionally include a communication apparatus, whichfunctions to communicate (e.g., send and/or receive) data between thecontrol system and a set of remote devices. The communication apparatuscan be a WiFi communication system, a cellular communication system, ashort-range communication system (e.g., Bluetooth, NFC, etc.), or anyother suitable communication system.

2. Method

As shown in FIG. 14, the method for plant treatment includes identifyinga plant within a geographic area S100, identifying a plant feature foruse in treatment application S200, determining a set of operationparameters for a treatment mechanism S300, and operating the treatmentmechanism in the treatment mode S400. The method functions to providetreatment on a plant-by-plant basis. However, the method can function toprovide treatment to set of plants (e.g., a set of plants located withina 10 ft by 10 ft area) or to any suitable number of plants. The methodcan additionally function to optimize plant treatment across ageographical area (e.g., a plant field) including a set of plants (e.g.,one or more plants) to optimize a geographic area output parameter, suchas crop yield or any other suitable geographic area output parameter asdiscussed above, an example of which is shown in FIG. 15.

The method is preferably performed by the system 10 described above,more preferably by the control system controlling the system describedabove, but can alternatively be performed by a remote computing system(e.g., a mobile device of a user, a remote server system, etc.), orperformed by any other suitable computing system. For the purposes ofthe below description, determining a variable or parameter based on areference variable or parameter can include calculating, selecting(e.g., from a graph or chart), estimating, iteratively converging, orotherwise determining the variable or parameter using the referencevariable or parameter.

Identifying a plant within a geographic area S100 functions to identifya subject for treatment. The plant is preferably identified in-situwithin the geographic area, wherein the plant remains rooted to theground during plant identification and treatment initiation. Asdiscussed above, the plant is preferably rooted in a field, but canalternatively be rooted in a pot or any other suitable location.Identifying the plant can include receiving a first measurement for ageographic area from a sensor as the sensor translates within thegeographic area and identifying a plant based on the first measurement.The sensor is preferably the detection mechanism 100, but canalternatively be any other suitable sensor. The sensor preferablytranslates as part of the system, wherein the system can be passivelydriven or actively driven, but can alternatively translate in any othersuitable manner. The first measurement is preferably captured by thesensor, but can alternatively be received by the sensor (and transmittedfrom a second source), or otherwise obtained by the sensor. The sensorpreferably captures a series of measurements at a predeterminedfrequency during sensor translation, wherein each measurement issubsequently analyzed for a plant, but can alternatively capturemeasurements in response to trigger events, such as a change in anenvironmental parameter (e.g., a light change). The first measurement ispreferably an optical image, but can alternatively be an acousticmeasurement, a haptic measurement, a temperature measurement, anelectric measurement (e.g., conductance), a compound measurement, a windspeed measurement, a light measurement, or any other suitablemeasurement. The optical image preferably includes both the substrate 70(e.g., soil, ground plane) and the plant. The optical image can becaptured from the top of the plant (e.g., with a field of viewsubstantially perpendicular a gravity vector or parallel a substrateplane, within a margin of error), the side of the plant (e.g., with afield of view substantially parallel a gravity vector or perpendicular asubstrate plane, within a margin of error), at an angle between the topand side of the plant, toward the substrate 70, or at any other suitableangle. The optical image can be a single image, a first and second imageconcurrently captured by a first and second statically coupled sensor(e.g., a stereoview captured with a stereocamera), a multispectralimage, a hyperspectral image, a reflected pattern of light (e.g., as inLIDAR), or any other suitable optical image. One or more optical imagesof the same geographic area can be captured by one or more sensors,concurrently or asynchronously.

Identifying a plant based on the first measurement preferably includesidentifying the plant within the image, but can alternatively includeidentifying the plant based on a change in the ambient environment(e.g., measured light) as the system moves along the geographic area, oridentified in any other suitable manner. The plant is preferablyidentified using image processing techniques, such as pixilation, linearfiltering, principal components analysis, independent componentanalysis, hidden Markov models, anisotropic diffusion, partialdifferential equations, self-organizing maps, neural networks, wavelets,convolutional nets, histogram of gradient features, gradient features,general Markov modeling (color), or any other suitable technique. Theplant can additionally or alternatively be identified using the systemand method described in U.S. application Ser. No. 13/788,320 filed 7Mar. 2013, incorporated herein in its entirety. In one example,identifying the plant preferably includes extracting the ground planefrom the optical image (e.g., based on color, planarity, etc.),identifying a plant within the image using color and/or shape analysis(e.g., identifying colors, such as green, that are associated withplants and less associated with substrate 70). In another example,identifying the plant includes applying background segmentation toidentify a plant in the foreground.

Identifying a plant feature for use in treatment application S200functions to identify a portion of the substrate 70 from which atreatment position can be determined. The plant feature can be a leaf orset of leaves, a stem, a node, a petiole, an apical bud, a rootstructure, a shoot structure, a fruit, a fruit feature (e.g., cornsilks), a junction 60 between the plant support structure (e.g., stem)and the substrate 70 (ground plane) or junction 60 between the rootstructure and shoot structure, or any other suitable portion of theplant. The plant feature can alternatively or additionally be a plantcharacteristic or parameter, such as a plant index value (e.g., NDVI,leaf area index, etc.), a color, shape, location, or any other suitablecharacteristic. Plant indices can include Normalized DifferenceVegetation Index (NDVI), Transformed Chlorophyll Absorption inReflectance Index normalized by Optimized Soil-Adjusted Vegetation Index(TCARI/OSAVI), Normalized Difference Red Edge Index (NDRE), CanopyChlorophyll Content Index (CCCI), Photochemical Reflectance Index (PRI),crop water stress index (CWSI), canopy temperature less air temperature(Tc-Ta), stomatal conductance (G), stem water potential, water stress,water content, Water Band Index (WBI), plant uniformity across thegeographic area, Leaf Area Index (LAI), Net Assimilation Rate (NAR),Relative Growth Rate (RGR), Leaf Area Ratio (LAR), Leaf Area Duration(LAD), Crop Growth Rate (CGR), plant index value change over time, plantindex value change rate, absolute growth rate in volume, absolute growthrate in number, absolute growth rate in mass, or any other suitableplant index. The plant feature is preferably identified from the firstmeasurement, more preferably within the first optical image, but canalternatively be identified from a second measurement of the samegeographic area, the same plant, or any other suitable measurement. Thesecond measurement can be the same type of measurement as the firstmeasurement, or can alternatively be a different type of measurement.The plant feature is preferably identified using image processingtechniques, as discussed above, but can alternatively be determined inany other suitable manner.

In one variation, identifying a plant feature for use in treatmentapplication S200 can include capturing an image of the plant with asensor and processing the image to identify the plant feature. Capturingan image of the plant with a sensor can include recording an image ofthe plant and the substrate 70, the image including a vector oriented atan angle between a plane of the substrate surface and a gravity vector,but can alternatively include capturing the image of the plant in anyother suitable manner at any other suitable angle (e.g., as describedabove). Processing the image to identify the plant feature can includeextracting a ground plane from the image, and identifying a plantfeature contiguous with or otherwise associated with a plant proximalthe sensor within the image.

Determining a treatment position functions to determine a globalposition at which the treatment should be applied. The treatmentposition can be a point, a line, or an area. The treatment position canbe a geographic position (e.g., set of latitude and longitudecoordinates, set of coordinates with altitude, etc.), a relativeposition (e.g., relative to the plant, relative to a plant feature orportion), or any other suitable position. Examples of treatmentpositions include a position on the substrate 70 relative to a stemjunction with the substrate 70, an interleaf position between a superiorand inferior leaf (e.g., as determined relative to a gravity vector), aposition relative to the plant feature (e.g., superior the plant featurealong a gravity vector, next to the plant feature, etc.) a position of aplant feature, such as an apical bud, corn silk, node, or other feature,a local minima or maxima of a plant parameter for a plant portion (e.g.,cross-sectional dimension of a plant stem), or any other suitabletreatment position. The treatment position is preferably determinedbased on the treatment mechanism to be used, but can alternatively bedetermined in any other suitable manner. A location (position) can be aset of geographic coordinates (e.g., latitude and longitude), a placename (e.g., county, city, landmark, intersection, etc.), a physicalstreet address, distance from a given location, presence within aspecified radius from a given location, a graphical depiction on a map,or any other suitable location expression. The location can bedetermined based on GPS coordinates provided by a device, triangulationbetween mobile phone towers and public masts (e.g., assistive GPS),Wi-Fi connection location, WHOIS performed on IP address or MAC address,GSM/CDMA cell IDs, location information self-reported by a user, ordetermined in any other suitable manner.

Determining the treatment position preferably includes determining aposition of the plant feature and determining the treatment positionbased on the plant feature position. The plant feature position can be arelative position (e.g., relative to a system component, such as thesensor, treatment mechanism, etc.) or a global position (e.g., absoluteposition). The plant feature position is preferably determined based onthe first measurement, but can alternatively be determined based on asecond measurement. In one example, the plant feature distance from thesystem component can be determined (e.g., estimated) from an image,based on optical analyses techniques (e.g., LIDAR, stereoview analysis,etc.). The global position of the sensor is approximated or known, basedon a position measurement from a positioning mechanism (e.g., GPS,triangulation system, etc.). The plant feature position is determinedbased on a combination of the global position of the system, the angleof the sensor relative to the direction of travel (e.g., based on anaccelerometer, GPS, etc.), and the estimated distance of the plantfeature from the system. In another example, the plant feature or plantglobal position is known (e.g., determined during a prior treatment ormeasurement session), wherein the plant can be uniquely identified, therespective global position retrieved, and the treatment positiondetermined based on the retrieved global position. The plant can beuniquely identified based on the estimated geographic position, a plantmarker (e.g., an RFID tag), a plant variable (e.g., the lean of a stem,the pattern of sunspots, the pattern of bug marks or bites, the patternof surrounding plants, etc.), or based on any other suitable identifieror combination thereof, unique or non-unique. However, the treatmentposition can be otherwise determined.

Determining the treatment position can additionally or alternativelyinclude determining the position of the treatment mechanism relative tothe treatment position. More preferably, the position of the treatmentmechanism active area (e.g., area to which the treatment can be applied)relative to the treatment position is determined. The position ispreferably an instantaneous position, but can alternatively be anestimated position or any other suitable position. This position ispreferably the geographic distance between the treatment mechanism andthe treatment position, but can alternatively be a height differentialor any other suitable position. This position can subsequently be usedto determine an amount of time between an instantaneous time and thetime at which the treatment mechanism is to be operated in the treatmentmode (e.g., treatment initiation time). Determining the position of thetreatment mechanism relative to the treatment position preferablyincludes determining the treatment position relative to the plantfeature, and determining the active area position relative to thetreatment position. However, the active area position relative to thetreatment position can alternatively be determined without determiningthe treatment position relative to the plant feature (e.g., wherein thetreatment position is determined relative to the system position).Determining the active area position relative to the treatment positionpreferably includes determining a first distance between the treatmentposition and a reference position (e.g., sensor position or positionmechanism position) and determining the active area position relative tothe treatment position based on the first distance and a known distancebetween the reference position and the active area position. However,the active area position relative to the treatment position can beotherwise determined.

Determining a set of operation parameters for a treatment mechanism S300(treatment mechanism operation parameters) functions to determineoperation parameters that will achieve a target plant parameter value(target plant parameter, target effect on the plant, desired effect).The target plant parameter value is preferably determined (e.g.,selected, computed, etc.) based on optimization of a geographic areaoutput parameter, wherein a plant having the target plant parametervalue preferably contributes to geographic area output parameteroptimization. However, the target plant parameter value can bedetermined based on plant health, plant proximity to adjacent plants, orbased on any other suitable plant parameter. The target plant parametercan be plant viability, plant health, available water volume, growthregulator concentration, electric stimulation, available light,available chemical compound, or any other suitable target plantparameter. Example values of plant viability include plant necrosis andplant retention. Example values of plant health include plant growthstimulation or retardation.

The set of treatment mechanism operation parameters can be determinedbased on a reference value, but can alternatively be determined in anyother suitable manner. The reference value can be a substantiallyinstantaneous plant measurement, a historical measurement for the plant(historical plant parameter measurement), a substantially instantaneousmeasurement for the geographic area (e.g., ambient environmentparameter), a historical measurement for the geographic area, ananticipated effect of applying the treatment using the operationparameters on a second plant located within the geographic area (e.g.,as described below), a plant classification (e.g., plant type, plantmaturity, etc.), classifiers or any other suitable parameter for theplant or set of plants determined from historical measurements, or beany other suitable measurement. The substantially instantaneousmeasurement can be the first measurement, or be a second measurement forthe plant recorded within a predetermined time window, such as withinseveral seconds or several minutes. However, the treatment mechanismoperation parameters can be selected based on system parameters orcharacteristics, or based on any other suitable parameter. For example,the shutoff event for a spray mechanism can be determined based on theamount of anticipated, historical, or otherwise determined overspray(e.g., due to solenoid closure delay). However, the treatment mechanismoperation parameters can be otherwise determined.

The set of treatment mechanism operation parameters can be a parameterof a treatment mechanism output, a parameter of a treatment mechanisminput, or any other suitable operational parameter. Examples oftreatment mechanism operation parameters include a treatment initiationposition (e.g., a geographic location at which the treatment is tobegin), the treatment position (e.g., geographic location, heightrelative to the substrate 70, angle relative to an axis of the supportmechanism, etc.), a treatment initiation time (e.g., an absolutetimestamp or relative time point at which the treatment is to begin),power input or output settings (e.g., wattage, electric voltage,electric current, etc.), output pressure, flow rate, working fluidcomposition, spray profile, plant coupling force, or any other suitableoperational parameter.

Determining the set of treatment mechanism operation parameters caninclude selecting the treatment mechanism operation parameters from apredetermined chart or grid based on the reference value(s), calculatingthe treatment mechanism operation parameters using the referencevalue(s), empirically determining the treatment mechanism operationparameters, iteratively analyzing different sets of treatment mechanismoperation parameters until a set of parameters anticipated to result inthe target effects for the plant and/or secondary plants is achieved, ordetermined in any other suitable manner. Empirically determining thetreatment mechanism operation parameters can include selecting a firstset of treatment mechanism operation parameters, treating a first plantby operating the treatment mechanism based on the first set of treatmentmechanism operation parameters, receiving a second measurement of thetreated plant, analyzing the second measurement for treatment efficacy(e.g., whether a target plant parameter value has been achieved, whetherthe plant has been necrosed, whether a fluid treatment has been applied,the degree of treatment application, etc.), and selecting a second setof treatment mechanism operation parameters or generating a second setof treatment mechanism operation parameters based on the first set oftreatment mechanism operation parameters. Iteratively analyzingdifferent sets of treatment mechanism operation parameters can includeselecting a first set of treatment mechanism operation parameters,estimating a first effect of a treatment applied by the treatmentmechanism operating based on the first set of treatment mechanismoperation parameters on the plant and/or secondary plants, selecting asecond set of treatment mechanism operation parameters, estimating asecond effect of the treatment applied by the treatment mechanismoperating based on the second set of treatment mechanism operationparameters on the plant and/or secondary plants, comparing the first andsecond effects for proximity to the target plant parameter value for theplant and/or secondary plants, and selecting the set of treatmentmechanism operation parameters estimated to result in the effect closestto the target plant parameter.

Operating the treatment mechanism in the treatment mode S400 functionsto control the treatment mechanism to apply the treatment to thetreatment position to treat the plant. The treatment mechanism ispreferably operable between a treatment mode and a standby mode, but canadditionally or alternatively be operable in any other suitable mode.Operating the treatment mechanism in the treatment mode S400 preferablyincludes operating the treatment mechanism based on the set of operationparameters (e.g., within a margin of error, such as 5%, 2%, etc.). Thetreatment mechanism is preferably operated in the treatment mode inresponse to the occurrence of a treatment initiation event, but canalternatively be operated in response to any other suitable conditionbeing satisfied. Examples of treatment initiation events includesatisfaction of an operation parameter, satisfaction of the initialtreatment parameter (e.g., identifying the plant from the firstmeasurement, the position of the active area of the treatment mechanismsubstantially meeting the plant position, etc.), the active area of thetreatment mechanism substantially aligning with a treatment position, aninstantaneous global timestamp substantially meeting a treatmentinitiation timestamp, an estimated duration until the treatmentmechanism will align with a plant feature substantially meeting atreatment duration, or any other suitable treatment event.

Operating the treatment mechanism based on the set of operationparameters can include controlling the treatment mechanism to output atreatment substantially satisfying (e.g., within a margin of error) theset of treatment parameters, but can alternatively include operating thetreatment mechanism with a set of inputs substantially satisfying theset of treatment parameters or operating the treatment mechanism in anyother suitable manner. Operating the treatment mechanism in the standbymode preferably includes sealing or halting material input to thetreatment mechanism (e.g., halting power provision, fluid provision,etc.), but can alternatively include any other suitable method ofceasing, halting, or pausing treatment application.

Operating the treatment mechanism in the treatment mode S400 canadditionally include aligning the treatment mechanism active area withthe treatment position. In a first variation, aligning the treatmentmechanism active area with the treatment position includes actuating thetreatment mechanism to align the active area with the treatmentposition. In one example, aligning the active area with the treatmentposition includes actuating the application mechanism (e.g., aconductive wire or plate pair of an electrical discharge device) suchthat the application mechanism is substantially aligned with thetreatment position(s) (e.g., within a margin of error). In this example,the treatment mechanism can additionally include an actuation mechanism,such as a linear element (e.g., a screw or telescoping element) thatincreases the distance of the active area from the mounting mechanism, arotational element that permits angular actuation about a rotationalaxis, or any other suitable actuation element. In a second variation,the treatment mechanism active area can be passively aligned, whereinaligning the treatment mechanism active area with the treatment positioncan include moving the entire system such that the treatment position isin range of the active area or the active area is aligned with thetreatment position. For example, as shown in FIG. 17B, system traversalalong the geographic area can align the active area with the treatmentposition as the system travel path passes by the treatment position.However, any other suitable alignment method or combination thereof canbe used to align the active area with the treatment position.

The method can additionally include determining a treatment for theplant S500, which functions to determine an action that will result inthe desired effect on the plant (e.g., result in the target plantparameter values). Example treatments include: dislodging the plant fromthe supporting substrate S110, removing a plant portion from the plant,cauterizing the plant or a portion thereof (e.g., by application of afirst amount of electric discharge or heat) S120, stimulating plantgrowth with application of a second amount of electric discharge,regulating plant growth with application of a first amount orconcentration of growth regulator (e.g., retardant, hormone, fertilizer,etc.), necrosing the plant with application of a second amount orconcentration of growth hormone or fertilizer, necrosing the plant byapplication of a first amount of heat, necrosing the plant by removal ofa first amount of heat, necrosing the plant by removal of an ambientenvironment parameter (e.g., air, water, sunlight, etc.), retardingplant growth, or any other suitable treatment. Selecting an action for aplant can include selecting nutrient application, disease-inducing ordisease-prevention compound application, pesticide application,insecticide application, fungicide application, defoliant application,or application of any other suitable compound or treatment to anindividual plant within a plant field. Selecting the action canadditionally include selecting the amount of the compound (e.g., volume,concentration, duration, etc.) to apply to the plant. Alternatively,selecting an action for a plant can include selecting an action for theplant ambient environment, such as irrigating the plants on aplant-by-plant basis. Selecting an action for the plant can additionallyinclude selecting how the plant environment should be changed, such asselecting and/or controlling the operation of individual pipelines ordriplines remote from the system, determining how deep or wide of anindividual irrigation ditch should be created, based on the plantcharacteristics, the plant ambient environment parameters, and/or thecharacteristics of the neighboring plants. Alternatively, any othersuitable action can be selected for the identified plant.

The treatment for the plant is preferably determined based onoptimization of the geographic area output parameter S520, as shown inFIG. 17A. The geographic area output parameter can be optimized bymaximizing, minimizing, or otherwise optimizing the resultant geographicarea output parameter value. The treatment is preferably selected topromote optimization of the geographic area output parameter, and doesnot necessarily result in the optimal geographic area output parametervalue. Geographic area output parameter optimization is preferably nottrue optimization, and the method can result in a sub-optimal geographicarea output parameter value after treatment. Instead, the optimizationpreferably promotes the best, second best, or any other suitable usageof the geographic area resources. The geographic area output parameteris preferably optimized based on information of the geographic area(e.g., information for plants previously treated within the geographicarea) at the time of decision computation, such that the geographic areaoutput parameter optimization for a given plant is unaffected by theactual parameters of plants within the geographic area that aresubsequently treated. However, the geographic area output parameteroptimization can be a true optimization, wherein the most effectiveplant output parameters are selected and achieved through treatment.

The geographic area output parameter is preferably an output parameterfor the entirety of the geographic area, but can alternatively be anoutput parameter for each individual plant, or be any other suitableoutput parameter. Examples of geographic area output parameters includeweed concentration, weed number, weed viability, crop yield, cropuniformity (e.g., in size, color, blemishes, etc.), compound amount(e.g., the mass of sugar that can be harvested from the geographicarea), compound concentration per plant, crop concentration per plant,total monetary cost (e.g., minimizing an input cost to produce a desiredoutput), or any other suitable output parameter. The target plantparameter values are preferably adjusted to optimize the geographic areaoutput parameter. Target plant parameters include plant health (e.g.,necrosed or retained), plant yield, the anticipated and/or instantaneousdegree of plant crowding, plant size, plant color, plant emissions,plant chemical composition, or any other suitable plant outputparameter.

The treatment can be determined based on a substantially instantaneousmeasurement for the plant, recorded within a threshold time period ofthe instantaneous time (e.g., within several second, microseconds,etc.). More preferably, the treatment can be determined based on plantparameters determined (e.g., calculated, extracted, etc.) from themeasurement. The measurement can be the first measurement, or themeasurement from which the plant was identified, or can be a differentmeasurement. Plant parameters that can be used in treatmentdetermination include parameters indicative of plant health, such asplant color intensity, plant color hue, color ratio, plant size, plantuniformity (e.g., leaf distribution, stem lean, etc.), plantcomposition, plant emissions, plant feature (e.g., stomata) size, plantfeature distribution over the plant, plant feature distribution over aportion of the plant (e.g., over a leaf), plant feature state (e.g.,degree of stomatal opening), or any other suitable parameter. Thetreatment can additionally or alternatively be selected based ondesirable or undesirable phenotypic expressions or physicalcharacteristics. For example, a lettuce plant with spotted leaves can beselected for necrosis, while a lettuce plant with a spot density lessthan a predetermined density threshold can be selected for retention.

The treatment can additionally or alternatively be determined based on acurrent parameter value for the geographic area, wherein the parametervalues are determined (e.g., recorded, gathered, estimated, etc.) withina threshold time period or within a time window. The time window can bethe time of same session operation (e.g., wherein the time window is theduration of continuous system operation), a time window defined before ameasurement for a subsequent plant is received, be a predeterminedduration after identification of a previous plant, be a durationdetermined based on the system velocity, or be any other suitable timewindow. The geographic area parameter values can be determined by thesystem, determined by a secondary system (e.g., a weather system, anaerial system, etc.), estimated based on a previous treatment ormonitoring session, determined by a secondary system (e.g., an airbornesystem, such as satellite or drone system), determined by a remotesystem (e.g., a weather report), or determined by any other suitablesystem in any other suitable manner. The parameter values for thegeographic area can include a number of plants within the geographicarea, the placement of plants within the geographic area, ambientenvironment parameters for the geographic area (e.g., sun exposure, windspeed, humidity, temperature, soil conductivity, soil saturation, soilcomposition, etc.), or values for any other suitable parameter.

The treatment can alternatively or additionally be determined based onhistorical treatment applications to the geographic area. The treatmentcan alternatively or additionally be determined based on historicaltreatment applications to the plant. The historical treatmentapplications can be treatments applied within a predetermined timewindow of the instantaneous time, outside of a predetermined timewindow, or applied at any other suitable time. The historical parametervalues for the geographic area can include parameter values of secondaryplants 20 within the geographic area that were previously treated duringthe same operation session of the system (e.g., within the time windowof the instantaneous time). The historical parameter values for thegeographic area can additionally or alternatively include the parametervalues of all or a portion of the plants within the geographic area froma prior operation session of the system. The parameters for thegeographic area, secondary plant 50, and/or the plant are preferablysimilar to those parameters as discussed above, but can alternatively bedifferent parameters, such as trends. Examples of historical parametersinclude historical treatments. Such treatments can include treatmentsdirectly applied to each plant within the same treatment session or in aprior treatment session. Such treatments can include treatmentsindirectly applied to each plant or set of plants (e.g., due totreatment runoff or carryover), within the same treatment session, in aprior treatment session, or from treatment of an adjacent or proximalfield. Determining the amount of indirect treatment applied to a plantcan be based on: a set of prior operation parameters for treatment of asecond plant within the geographic area at a prior time point, the priortime point within a threshold time period of an instantaneous time; andan ambient environmental parameter for the prior time point (e.g., asdetermined from historical weather measurements). Such treatments caninclude treatments applied to the geographic area, or portion thereof,as a whole (e.g., a crop dusting treatment). Such treatments can includepast weather events associated with the geographic area, such as rain,thunder, and sunlight. However, any other suitable historicalinformation can be used. The historical information is preferablyretrieved from memory, such as on-board memory, a remote server system,or any other suitable memory, but can be received (e.g., from the remoteserver system, the plant, or any other suitable source) or otherwiseobtained.

The treatment can additionally or alternatively be determined based onthe anticipated effect of the treatment on secondary plants 50 (e.g.,indirect treatments), as discussed below.

In a first variation of treatment determination, the treatment for eachplant of the geographic area can be predetermined prior to receipt ofthe first measurement for a first plant of the geographic area orinitiation of a treatment session for the geographic area. Thisvariation preferably includes retrieving historical information for eachplant (e.g., plant parameter values) within the geographic area from adatabase, determining the treatment for each plant based on thehistorical information, and treating each plant according to therespective treatment in response to the system encountering the plantwithin the geographic area. Alternatively or additionally, thisvariation can be performed using future information for each plant orthe geographic area, wherein the future information (e.g., futuretreatments, etc.) can be determined based on historical information,estimated, or otherwise determined. This variation is preferablyperformed separately (e.g., asynchronously) with treatment of plantswithin the geographic area, but can alternatively be performedconcurrently with treatment of plants within the geographic area.

In a second variation of treatment determination, the treatment for eachplant of the geographic area can be predetermined prior to receipt ofthe first measurement for the respective plant. More preferably, thetreatment for each plant can be determined during treatment of secondaryplants 50 within the geographic area, or determined during the treatmentsession for the geographic area (e.g., within a time window prior to thetime at which the plant is treated, wherein the time window can bepredetermined, be a duration of continuous system operation, or be anyother suitable time window), after treatment of the secondary plant 50.However, the treatment can be determined at any other suitable time. Inthis variation, the treatment for the plant is preferably determinedbased on the treatment of and/or anticipated treatment effect for asecondary plant 50, wherein the decision of whether to necrose S521,retain S522, and/or stimulate growth of the secondary plant 50 affectsthe treatment that is selected for the plant. The secondary planttreatment (actual or estimated) or secondary plant treatment decisionpreferably affects the treatment decision for the first plant throughthe geographic area output parameter optimization, but can alternativelyinfluence the treatment decision for the first plant in any othersuitable manner. The treatment decision for the first plant ispreferably dynamically adjusted in response to treatment of thesecondary plant 50, but can alternatively be determined in any othersuitable manner. The treatment decision for the first plant canadditionally be determined based on historical parameters or on anyother suitable reference value. In one example, a first plant can beassigned to be necrosed, but as the system monitors and treats thesecondary plants within the geographic area, the first plant can bereassigned to be retained (e.g., in response to overtreatment, such asoverfertilization, of a secondary plants that were meant to beretained).

In a third variation of treatment determination, the treatment for eachplant of the geographic area can be dynamically determined, in responseto identification of the plant within the geographic area. In thisvariation, the treatment for each plant can be determined based on thehistorical parameter values for the geographic area. The treatment foreach plant can additionally or alternatively be based on a substantiallyinstantaneous measurement for the plant for which a treatment is to bedetermined, wherein the measurement is preferably recorded and/orreceived within a second time window. The treatment for each plant canadditionally or alternatively be determined based on the treatmentsapplied to and/or anticipated treatment effects on secondary plants 50within the geographic area within the same session. The treatment foreach plant can additionally or alternatively be determined based on ananticipated effect of the treatment applied to the secondary plant 50 onthe plant to be treated (primary plant 40). The treatment canadditionally or alternatively be selected based on any other suitableinformation. For example, in response to identification of a plant, thesystem determines whether to retain, necrose, or stimulate the plantbased on the following factors: the treatments previously applied tosecondary plants within the geographic area during the same session andthe estimated or confirmed treatment effects on the secondary plants;the estimated viability of the plant based on the estimated plant health(e.g., as determined based on the ratio of green to brown in an opticalimage), the forecasted weather, the prior treatments applied to theplant by systems or the environment, and the effect that a treatment canhave on the plant; the interaction of the necrosed, retained, orstimulated plant on neighboring plants, and/or any other suitablefactors. In particular, the factors can be used to determine whichcourse of action would optimize the geographic area output parameter.However, the treatment can be determined in any other suitable manner.

Determining the treatment and/or determining the treatment operationparameters can additionally include selecting a treatment mechanismS600. This can be desirable when the system includes multiple treatmentmechanisms, of the same type or different types. The treatment mechanismis preferably selected based on a prediction of the future location ofthe plant relative to a given treatment mechanism, based on the locationof the plant and the location, direction of travel, velocity, and/oracceleration of the system. The selected treatment mechanism 201 ispreferably the treatment mechanism that is anticipated to be closest tothe plant or anticipated to have the best application angle for theplant, as shown in FIG. 16A. For example, in a system having multipletreatment mechanisms of the same type (e.g., all nozzles) fixedlyarranged in a row perpendicular to a direction of travel, a treatmentmechanism on the left can be selected to act on a plant to the left ofthe system, while a treatment mechanism on the right of the system canbe selected to act on a plant to the right of the system. In anotherexample, the treatment mechanisms can be arranged such that thetreatment mechanisms apply the treatment at a low angle relative to anormal vector relative to the ground (e.g., less than 90° from theground, less than 60° from the ground, etc.) to apply the treatment tothe stem, base, or roots of the plant while avoiding the leaves. In thisexample, a treatment mechanism on the right can be selected to act on aplant to the left of the system, due to the improved angle ofapplication.

The treatment mechanism is additionally or alternatively selected basedon the state of operation of the treatment mechanism. More preferably,the treatment mechanism is preferably selected based on the amount oftime required for the treatment mechanism to achieve an active state andthe amount of time before the treatment mechanism is in a suitableposition to apply a treatment to the plant. Each treatment mechanism ispreferably operable between an active and inactive mode, and canadditionally be operable in a standby mode. Each treatment mechanism canadditionally require a period of time to ramp up to the active mode fromthe inactive mode or the standby mode. For example, plasma ionizers needtime to charge the electrodes, spray nozzles need time to pressurize andpump the spray fluid to the nozzle 211, and RF cutters need time toheat. A treatment mechanism is preferably selected when the estimatedamount of time required for the treatment mechanism to be operable inthe active mode is less than or substantially equal to the estimatedamount of time for the treatment mechanism to reach a suitable treatmentposition for the plant (e.g., reach the plant center, reach a distancethat permits clear treatment access to the stem, etc.). The estimatedamount of time required for the treatment mechanism to be operable inthe active mode is preferably a predetermined duration (e.g., set by themanufacturer), but can alternatively be selected from a chart or graphbased on the operation history of the treatment mechanism, environmentalparameters (e.g., moisture, wind, temperature, etc.), or any othersuitable variable that may influence the treatment mechanism ramp uptime. In another alternative, the estimated ramp up time can bedetermined empirically. The ramp up time for a given treatment mechanismcan be measured during operation (e.g., with a timer), wherein theestimated ramp up time for subsequent treatment mechanism operations isset to the measured ramp up time.

Alternatively, when a system includes multiple treatment mechanisms thatapply different types of treatments, the treatment mechanism isadditionally or alternatively selected based on the treatment mechanismefficacy in achieving the desired plant response, as shown in FIG. 16B.The treatment mechanism is preferably selected based on the plant typeor plant characteristics, but can alternatively be selected based onother factors. More preferably, treatment mechanisms with treatmentshaving high efficacies in achieving the desired plant response for theidentified plant characteristics are selected. For example, electriccauterization can be selected to necrose free-standing plants (e.g.,plants that are not contiguous or touching an adjacent plant), whilefertilizer spray can be selected to necrose close-growing plants.Alternatively, treatment mechanisms having lower efficacies in achievingthe desired plant response can be selected, particularly when thetreatment mechanism has a higher accuracy, or when the treatmentmechanism has a higher coverage area and multiple plants in closeproximity are to be acted upon in the same manner.

The treatment mechanism can additionally or alternatively selected basedon the cost of achieving the desired plant response with the treatmentmechanism. The cost of achieving the desired plant response ispreferably determined based on the cost of the treatment amount requiredto achieve the desired response. In one variation of the method, thetreatment mechanism is selected based on the market cost of thetreatment material. The treatment mechanism can be selected based on thedynamically shifting market price of the treatment material, wherein thesystem is preferably networked to a dynamically updated marketplace.Alternatively, the market cost of the treatment material can be enteredprior to system operation, can be determined based on the cost of fuel(to transport the system), or be determined in any other suitablemanner. For example, electric cauterization can be selected in responseto the cost of fertilizer spray exceeding the cost of electricityrequired to power the electric cauterization mechanism.

The treatment mechanism can additionally or alternatively selected basedon a desired resultant growing environment for the retained crops. Thetreatment mechanism can be selected based on the desired resultant soilcomposition, pest control, or based on any other suitable environmentalfactor. This can be preferable when a system includes multiple treatmentmechanism types whose treatments each leave a different treatmentproduct. For example, in order to achieve plant necrosis, a highfertilizer concentration must be applied to the plant. This leaves thearea occupied by the plant and the surrounding area highly fertilized,which can be conducive to growth of certain plants and prohibitive togrowth of other plants. In this example, fertilizer can be selected as anecrosing agent when plants promoted by extremely fertilized land aredesired. In another example, the treatment products of electriccauterization include ash and decaying plant matter, which can be usedas soil amendment to adjust the chemical and physical properties of thesoil. This can result in more favorable growing conditions for theretained plants.

The treatment mechanism can additionally or alternatively selected basedon environmental parameters of the ambient environment. This can bepreferable when treatment application can be affected by environmentalfactors such as wind 12 or humidity. Selecting the treatment mechanismbased on environmental parameters preferably includes measuring aparameter of the ambient environment with a sensor and selecting thetreatment mechanism based on the measurement. Selecting the treatmentmechanism can additionally include selecting a second treatmentmechanism, having a different treatment type than the first treatmentmechanism, in response to a change in the measured parameter. However,the treatment mechanism can be selected in any other suitable manner.

In one variation of the method, the treatment mechanism is selectedbased on a weighted average of the aforementioned factors. A weightedaverage is preferably calculated for each treatment mechanism, whereinthe treatment mechanism with the highest score can be selected. Theweights for the factors can be manually or automatically adjusted. Theweights can be automatically adjusted based on the duration of systemoperation, environmental parameter measurements (e.g., one factor isgiven more weight in response to an environmental parameter measurementexceeding a predetermined threshold), treatment material levels withinthe system, availability of the treatment mechanism, or based on anyother suitable adjustment factor. The weighted average is preferablydetermined from scores assigned to each factor for the given treatmentmechanism. The scores are preferably ranks, but can alternatively be anyother suitably determined score.

The method can additionally include verifying plant treatment S700,which functions to determine the treatment that was actually applied tothe plant. Verifying plant treatment S700 can additionally function todetermine the effect of the applied treatment on the plant. Verifyingthe plant treatment can include recording a second measurement of thegeographic area S710, more preferably a second measurement of the plantor plant portion, after treatment mechanism operation in the treatmentmode and/or after treatment application to the plant; determining averification indicator value based on the second measurement; andcomparing the determined verification indicator value to a referenceindicator value indicative of effective treatment. Verifying planttreatment S700 can additionally include storing the second measurement,verification indicator value, or any other suitable verificationinformation in association with a plant identifier S720.

The second measurement can be the same type of measurement as the firstmeasurement, but can alternatively be a different measurement type. Inone example, recording the second measurement includes recording anoptical image of the plant after treatment mechanism operation in thetreatment mode. In another example, the second measurement can be asingle image captured by a CCD camera. The second measurement can betaken at the same angle relative to a reference point (e.g., gravityvector, plant, travel vector, etc.) as the first measurement, or can betaken at a different angle. In one example, the first measurement istaken at a non-zero angle (e.g., between 0 and 90 degrees) to a gravityvector, while the second measurement is taken from the top of the plant.The second measurement is preferably recorded by a second sensor, suchas a second camera, wherein the second camera can be statically retainedrelative to the treatment mechanism, more preferably at a positionopposing the first camera across the treatment mechanism (e.g.,posterior the direction of system travel).

Determining the verification indicator value based on the secondmeasurement preferably includes extracting a value for the verificationparameter from the second measurement, such as by using image processingtechniques, signal processing techniques, or any other suitabletechniques.

In one example of the method, the treatment is plant dislodgement.Determining the verification indicator value includes analyzing thesecond measurement to extract plant dislodgement or displacementindicators. Plant dislodgement or displacement indicators include plantfeatures superior a substrate plane (e.g., to extract plant featuresabove the substrate 70 or exposed from the substrate 70), or any othersuitable indicators. The treatment can be verified in response todetermination of exposed roots, determination that less than a thresholdpercentage or number of roots are left in the undisturbed or retainedsubstrate 70, determination that a predetermined substrate mass has beendisplaced, or determination of any other suitable indication of plantdisplacement. The indicator values are preferably measurements for thedisplacement indicators, but can alternatively be any other suitablemeasure. Displaced substrate and/or root exposure can be identified inan optical image based on color, profile, and object differentialsbetween the second measurement and the first measurement, detectedcolors, or any other suitable parameter.

In a second example of the method, the treatment is plant cauterization.Determining the verification indicator value includes analyzing thesecond measurement for cauterization indicators. Cauterizationindicators can include color change (e.g., difference between the firstmeasurement and second measurement), detected colors (e.g., brown orblack on the cauterized plant portion), detected color ratios (e.g.,ratio of brown to green), color or color ratio changes, detected plantportion temperatures over a predetermined temperature threshold,temperature change, plant structure (e.g., cellular structure orexternal structure), plant structure change, the water content of theplant portion, water content change, or any other suitable parameterindicative of cauterization. The indicator values are preferablymeasurements for the cauterization indicators (e.g., the temperature ofthe plant, the percentage of a given hue, the intensity of a given hue,etc.), but can alternatively be any other suitable measure.

In a third example of the method, the treatment is working fluidapplication (e.g., growth hormone application, growth retardantapplication, etc.). Determining the verification indicator valueincludes analyzing the second measurement for fluid applicationindicators. Fluid application indicators can include detecting dyecolors in an optical image (e.g., wherein the working fluid includes acolored, fluorescent, or other dye), detecting fluid beads or pools onthe plant portion, detecting a spray blockage pattern or shadow on thesubstrate (e.g., substrate color change), detecting an increase inhumidity levels proximal the plant portion, or detecting any othersuitable parameter indicative of fluid application to the plant portion.The indicator values are preferably measurements for the fluidapplication indicators (e.g., humidity measurement, number of fluidbeads, estimated volume of fluid retained on the plant, etc.), but canalternatively be any other suitable measure.

The reference indicator value can be predetermined, dynamicallydetermined (e.g., based on the dynamically determined desired treatmenteffect on the plant), or otherwise determined. In one variation, thereference indicator value is retrieved from on-board or remote storage.The reference indicator values can be binary (e.g., either the treatmentwas applied and/or effective or was not), such as a threshold value.Alternatively or additionally, the reference indicator values can be aset of values (e.g., a plurality of values), wherein each value can beassociated with a percentage, degree, or other measure of treatmentsuccess, efficiency, efficacy, or any other suitable measure of planttreatment. Alternatively or additionally, the reference indicator valuescan be a substantially continuous scale or be any other suitable set ofvalues.

Verifying plant treatment S700 can additionally include adjusting thetreatment mechanism operation parameters selected for subsequenttreatment events based on the verification indicator value. This canfunction to provide feedback to the system to titrate (e.g.,incrementally adjust) which treatment mechanism operation parameters areselected to obtain a desired result (e.g., target plant parameter). Thefuture treatment mechanism operation parameters can be adjusted based onthe verification indicator values extracted from the second measurement,or can be adjusted based on the actual or anticipated treatment effecton the plant based on the indicator values. The future treatmentmechanism operation parameters are preferably adjusted for treatment ofplants exhibiting similar parameters to the just-treated plant, but canalternatively be adjusted for treatment of plants in ambientenvironments having similar parameters as the ambient environment of thejust-treated plant, or adjusted for treatment of plants based on anyother suitable variable. The future treatment mechanism operationparameters are preferably changed from the set of treatment mechanismoperation parameters selected for the just-treated plant, but canalternatively be used to adjust a formula, wherein the formula issubsequently used to determine the treatment mechanism operationparameters, or used to adjust the future selected treatment mechanismoperation parameters in any other suitable manner. The future treatmentmechanism operation parameters are preferably incrementally adjusted bya predetermined increment in response to determination that thetreatment effect was not the desired effect, but the adjustment amountcan alternatively be determined based on the indicator value, thedifference between the determined indicator value and the referenceindicator value, the difference between the actual and desired treatmenteffect, or determined in any other suitable manner.

In a first variation, the treatment is plant dislodgement, preferably byhigh-pressure spray but alternatively by mechanical digging orapplication of any other suitable dislodgement force. In response todetermination that the treatment was less effective than desired (e.g.,the percentage of the plant that was dislodged is less than thepercentage of the plant that was targeted to be dislodged, roots weredetected in the intact substrate when they should have been removed,etc.), for a second plant having plant parameters similar to the firstplant (e.g., plant classification, plant maturity, etc.) and/or anambient environment (e.g., substrate slope, substrate hardness, etc.)similar to the first plant, the depth, width, or distance of thedislodgement force application can be increased. The dislodgement forceapplication parameters can be adjusted by increasing the spray duration,the spray pressure, the spray temperature, the spray profile, or anyother suitable operation parameter. Conversely, the depth, width, ordistance of the dislodgement force application can be decreased inresponse to determination that the treatment was more effective thandesired (e.g., displaced more substrate than anticipated). However, thetreatment mechanism operation parameters can be otherwise adjusted.

In a second variation, the treatment is plant cauterization, preferablyby electric discharge application but alternatively by heat applicationor application of any other suitable electromagnetic wave. In responseto determination that the treatment was less effective than desired(e.g., the recipient plant portion reflects green beyond a threshold hueor intensity, has a high ratio of green to brown hue, has a temperaturelower than a temperature threshold, etc.), for a second plant havingplant parameters similar to the first plant and/or an ambientenvironment similar to the first plant (e.g., soil conductivity, etc.),the electromagnetic parameter values of the treatment can be increased.Electromagnetic parameters that can be adjusted include the voltage, thecurrent, the power input to the treatment mechanism, the electromagneticwavelength, power provision duration, treatment mechanism position ororientation, or any other suitable electromagnetic parameter.Conversely, the electromagnetic parameter values of the treatment can bedecreased in response to determination that the treatment was moreeffective than desired (e.g., cauterized more than the targeted plantportion, cauterized secondary plants as well, etc.). However, thetreatment mechanism operation parameters can be otherwise adjusted.

In a third variation, the treatment is working fluid application to theplant, preferably by applying droplets to a portion of the plant butalternatively by brushing the working fluid on the plant or otherwiseapplying the fluid to the plant. In response to determination that thetreatment was less effective than desired (e.g., the plant portion wasinadequately covered, the plant portion retained less than a thresholdor desired volume of the working fluid, an adjacent plant portion wasaffected, etc.), for a second plant having plant parameters similar tothe first plant and/or an ambient environment similar to the first plant(e.g., wind speed, humidity, etc.), the fluid application parametervalues of the treatment can be increased or adjusted. Fluid applicationparameters that can be adjusted include the spray pressure, the dropletcharge, the droplet temperature, the droplet size, the position (e.g.,height, angle, etc.) of the nozzle 211 during treatment, the actuationspeed and/or angle of the nozzle 211 during treatment, the spray pattern212, or any other suitable operation parameter. Conversely, the fluidapplication parameters can be decreased in response to determinationthat the treatment was more effective than desired (e.g., too much fluidwas retained by the plant portion, the plant portion and an adjacentplant or plant portion were both treated, etc.). However, the treatmentmechanism operation parameters can be otherwise adjusted.

a. Indirect Treatment of Secondary Plants

The method can additionally include determining the effects of primaryplant treatment on secondary plants S800 within the geographic area(e.g., indirect treatment of secondary plants 50). Conversely, themethod can include determining the treatment or operation parametersbased on an amount of indirect treatment on the plant due to treatmentsof secondary plants 50 within the geographic area. The effects ofprimary plant treatment on secondary plants 50 are preferably consideredwhen determining the target parameter for a plant, selecting thetreatment for the plant (e.g., in response to receipt of the firstmeasurement and prior to receipt of a second measurement for a secondplant of the plurality, prior to processing the second measurement forthe second plant of the plurality, etc.), selecting the treatmentmechanism operation parameters selected for the plant (e.g., in responseto selection of an action or treatment for a plant), and/or determiningany other suitable treatment parameter. More preferably, the effects ofprimary plant treatment on secondary plants 50 functions as a variablethat is considered when optimizing the geographic area output parameter.The effects that are considered can include the amount of indirectapplication of the primary plant treatment to the secondary plant, themechanical effect on the secondary plants 50 (e.g., whether a dislodgedplant will topple the secondary plant), the chemical effect on thesecondary plants 50 (e.g., the nutrients that will be released due toprimary plant necrosis), the disease and/or pest transmission effect onthe secondary plants 50 (e.g., whether primary plant necrosis willresult in disease and/or pest transmission to the secondary plant, suchas due to increased physical proximity, etc.), or include any othersuitable effect that affects geographic area output.

In a first example, the method includes iteratively determining thetreatment and/or treatment mechanism operation parameters. Iterativelydetermining the treatment and/or set of treatment mechanism operationparameters can include selecting a first treatment and/or set oftreatment mechanism operation parameters for a primary plant 40,determining the effects of the treatment on a set of secondary plants50, selecting a second treatment and/or set of treatment mechanismoperation parameters, and determining whether the first or secondtreatment and/or set of treatment mechanism operation parameters resultsin an output optimizing the geographic area output parameter. The secondtreatment and/or set of treatment mechanism operation parameters can beselected based on the estimated number of adversely affected secondaryplants 50 due to the first treatment and/or set of treatment mechanismoperation parameters, the type of adverse effects on secondary plants50, randomly generated, or otherwise determined. The second treatmentand/or set of treatment mechanism operation parameters can be determinedprior to primary plant treatment, can be determined after verificationof primary plant treatment, can be determined in response todetermination that the primary plant 40 was inadequately treated (e.g.,the measured plant parameter values varied from the target plantparameter values by more than a threshold difference), or determined atany other suitable time.

In a second example, the method includes selecting the treatment and/ortreatment mechanism operation parameters based on a parameter value. Theparameter can be a plant parameter, ambient environment parameter, orany other suitable parameter. The treatment and/or set of treatmentmechanism operation parameters can be selected from a chart, graph, orany other suitable database. For example, a first treatment and/or setof treatment mechanism operation parameters for the low-pressure spraymechanism can be selected in response to determination of a firstambient wind speed, while a second treatment and/or set of treatmentmechanism operation parameters for the low-pressure spray mechanism canbe selected in response to determination of a second ambient wind speed.In another example, as shown in FIG. 21, a treatment for a primary plant40 can be selected by determining the treatments that can result in thetarget plant parameter value for the primary plant 40, determining theindirect treatment effects on secondary plants 50 for one or more of thetreatments, comparing the indirect treatment effects to the target plantparameter values for each of the secondary plants 50, and selecting atreatment based on the comparison. The secondary plants 50 can be plantspreviously identified within the same treatment session (e.g.,previously treated plants treated within a time window), plantspreviously identified in a prior treatment session (e.g., outside thetime window) but unidentified during the instant treatment session,untreated plants, plants identified using a secondary detectionmechanism (e.g., an airborne mechanism), or plants identified in anyother suitable manner.

Determining the effects of primary plant treatment on secondary plantsS800 within the geographic area preferably includes identifying asecondary plant S810. Secondary plants 50 are preferably plants withinthe geographic area or outside of the geographic area that couldpotentially experience all or a portion of the treatment applied to theprimary plant 40 can be identified as a secondary plant. The secondaryplants 50 are preferably associated with the primary plant 40 through anambient environment feature. Ambient environment features are preferablycharacterized by ambient environment parameters. The ambient environmentfeature can be substantially permanent, such as a landform, or can besubstantially transient, such as wind. When a secondary plant isdetermined based on a transient ambient environment feature, the ambientenvironment parameter values that are used are preferably thosecharacterizing the ambient environment feature at the time of thetreatment. The values of the ambient environment parameters can beretrieved from a database, measured, calculated based on historicalinformation for the geographic area (e.g., soil conductivity determinedbased on past rainfall, watering, or other liquid treatments), orotherwise determined. Examples of ambient environment features includethe geographic landform, distance (e.g., electric, geographic, etc.),the substrate 70, and wind, but any ambient environment feature canalternatively be considered. Examples of ambient environment parametersinclude the slope of the landform (e.g., gradient), the ambientenvironment electrical conductivity (e.g., soil conductivity), soilporosity, compaction, erosion, wind speed, and wind direction, but anyparameter of any ambient environment parameter can alternatively beconsidered.

Examples of secondary plants 50 include plants that are located (e.g.,positioned) inferior the primary plant 40 along a landform gradient(e.g., below the primary plant 40 relative to a gravity vector, as shownin FIG. 18), plants that are electrically connected to the primary plant40 through the ambient environment (e.g., through the substrate, asshown in FIG. 19), and plants that are located along an ambientenvironment gradient or vector (e.g., downstream or downwind of theprimary plant 40, as shown in FIG. 20). Alternatively, the secondaryplants 50 can be plants located within a predetermined distance from theprimary plant 40 (e.g., within 10 feet of the primary plant 40), or beany other suitable plant.

Determining the effects of primary plant treatment on secondary plantsS800 within the geographic area preferably includes determining anamount of indirect treatment of a plant S820. Alternatively, determiningthe effects of primary plant treatment can include determining aprobability of indirect treatment of a plant, a concentration ofindirect treatment of a plant, a degree of indirect treatment of aplant, or determining any other suitable measure of indirect planttreatment. The determined amount of indirect plant treatment on aprimary plant 40 is preferably stored in association with the plant, butcan alternatively be determined for the purposes of treatment, treatmentparameter, or other parameter selection only. In a first variation ofthe method, the amount of indirect plant treatment is determined inresponse to identification of a plant based on the first measurement.The amount of indirect plant treatment is determined based on previoustreatments of secondary plants 50 in the field during the same sessionor within a time window. In a second variation of the method, the amountof indirect plant treatment on each of a set of secondary plants 50 isdetermined in response to primary plant treatment or treatment mechanismoperation parameter selection, wherein the amount of indirect planttreatment on each secondary plant is preferably stored in associationwith the secondary plant. In this variation, the secondary plants 50 arepreferably already known, either because the secondary plants 50 wereplants previously treated within the same operation session 20, orbecause the secondary plants 50 were plants treated or otherwiseidentified in a prior operation session.

The amount of indirect treatment can be a projected amount of indirecttreatment of a plant, based on a hypothetical set of treatmentparameters, or can be an estimated, calculated, or measured amount ofindirect treatment as a result of treating a first plant by operatingthe treatment mechanism in the treatment mode S400. The amount ofindirect plant treatment can be determined based on a selected set oftreatment mechanism operation parameters, based on a set of actualtreatment mechanism operation parameters (e.g., the operation parametersat which the treatment mechanism was actually operated in the treatmentmode), based on a set of measured treatment parameter values (e.g.,measurements characterizing the treatment that was actually applied), orbased on any other suitable treatment characterization. The amount ofindirect plant treatment can additionally be determined based on aparameter of an ambient environment feature (ambient environmentparameter).

In a first example, as shown in FIG. 18, the plant is dislodged using ahigh-pressure spray. The amount of working fluid (e.g., water) runoff toother plants is determined based on the volume of working fluid used todislodge the plant (e.g., estimated or actual), the relative positionsof the first and second plants on a slope, and the soil porosity and/orsaturation at the treatment time.

In a second example, as shown in FIG. 19, the plant is cauterized usingelectrical discharge. The amount of electrical discharge applied toother plants is determined based on the amount of electricity applied tothe primary plant 40 and the soil conductivity at the treatment time.

In a third example, as shown in FIG. 20, the plant is treated byapplying a growth regulator to the plant. The amount of growth regulatorapplied to other plants is determined based on the duration of growthregulator spraying, the wind speed at the treatment time, and the winddirection at the treatment time.

In a first variation, the plant for which the indirect treatment isdetermined can be the plant instantaneously identified based on thefirst measurement (e.g., the plant for which the decisions are to bemade). This variation is preferably utilized when determining atreatment and/or operation parameters for a plant, in response toidentification of the plant. Determining the amount of indirecttreatment of the plant includes determining an amount of indirecttreatment of the plant based on prior treatments of secondary plants 50,wherein the primary plant 40 is inferior, downstream, or otherwise arecipient of a portion of secondary plant treatment. The primary plant40 is preferably associated with the secondary plant based on an ambientenvironment parameter, more preferably the ambient environment parameterat the time of the prior treatment (e.g., the wind speed and directionduring the prior treatment). The prior treatments of secondary plants 50can be determined based on a set of stored operation parameters selectedfor the prior treatment, a set of operation parameters characterizingthe actual treatment mechanism output for the prior treatment, a set ofmeasurements characterizing the effect of the prior treatment (e.g.,based on measurements obtained while verifying the treatment), ordetermined in any other suitable manner. The secondary plant waspreferably treated at a prior time point, wherein the prior time pointis preferably within a threshold time period of the instantaneous time(e.g., within the same treatment session, operation session, within apredetermined period of time such as a day, etc.). However, thesecondary plant can be concurrently treated, as the amount of indirecttreatment is being determined, or treated at any other suitable time.

The determined amount of indirect treatment is preferably used to adjustthe treatment mechanism operation parameters selected for the firstplant. For example, if plant displacement is selected for both theprimary plant 40 and the secondary plant, the amount of water runoff tothe primary plant 40 due to secondary plant treatment can be determined,the effect of the water runoff on the soil rigidity determined, and thespray duration adjusted based on the determined soil rigidity. Inanother example, if growth hormone application is selected for both theprimary plant 40 and the secondary plant, the amount of growth hormoneselected to be applied to the primary plant 40 is preferably discountedby the amount of indirect growth hormone applied due to secondary planttreatment. In another example, if electric discharge was selected forthe secondary plant and growth stimulation is selected for the primaryplant 40, the amount of electrical stimulation on the primary plant 40due to secondary plant treatment is determined, the estimated amount ofprimary plant growth stimulation due to the determined amount ofelectrical stimulation is determined, and the treatment for the primaryplant 40 selected accordingly. In particular, if the amount ofelectrical stimulation will result in the desired growth stimulation,then the plant is not treated. If the amount of electrical stimulationwill result in insufficient growth stimulation, the already-appliedelectrical stimulation can be augmented with a direct treatment. If theamount of electrical stimulation resulted in an adverse result (e.g.,necrosed the plant), the target plant parameter value (e.g., targeteffect) can be adjusted. In another example, if plant displacement usinghigh-pressure spray was selected for the secondary plant and plantwatering was selected for the primary plant 40, the amount of water tobe directly applied to the primary plant 40 is discounted by the amountof water indirectly applied to the primary plant 40 (e.g., due to waterrunoff) from treatment of the secondary plant.

In a second variation, the plant for which the indirect treatment isdetermined can be a secondary plant that has not yet been identified inthe instantaneous operation session (e.g., duration of continuousoperation). Alternatively, the plant for which the indirect treatment isdetermined can be a secondary plant that has been previously identifiedand treated, wherein the effect of the indirect treatment is analyzed todetermine whether the primary plant treatment will further or retardprogress toward the target plant parameter value or target effect.However, the secondary plant can be concurrently treated as the amountof indirect treatment is being determined, or treated at any othersuitable time. In this variation, a secondary plant is a plant that islocated inferior, downstream, or otherwise a recipient of a portion ofprimary plant treatment. The secondary plants 50 are preferably plantsassigned to be retained, but can alternatively be plants assigned fornecrosis. This variation is preferably utilized when determining atreatment and/or operation parameters for a primary plant 40, inresponse to identification of the plant. This variation can function toconsider the effects of the treatment on other plants, before thetreatment is applied. In this variation, determining the effect of theprimary plant treatment on secondary plants 50 includes determining theindirect treatment to be applied to each secondary plant for aconsidered treatment, determining an effect of the respective portion ofthe primary plant treatment on each secondary plant, and, for eachsecondary plant, comparing the effect of the respective portion of theprimary plant treatment on each secondary plant with the target plantparameter value for each secondary plant, wherein the target plantparameter value is preferably selected to optimize the geographic areaoutput parameter.

In one example, when the considered treatment is high volume workingfluid application (e.g., plant dislodgement using high-pressure spray),the method includes determining an amount of working fluid estimated tobe applied to each secondary plant and/or determining an amount ofnutrients estimated to be applied to each secondary plant due to firstplant necrosis, determining the effect of applying this amount ofworking fluid and/or nutrients to the secondary plant, and selecting thetreatment in response to determination that the additional working fluidand/or nutrients will assist secondary plant growth to achieve therespective target plant parameter. Alternatively, the method includesdetermining an estimated first volume of water to be output during thespray duration; determining a target plant parameter value for eachplant of the set by optimizing the plant output parameter for thegeographic area S510; determining a target volume of water for eachplant of the set based on the respective target plant parameter;determining a second volume of water subsequently available to each of aset of secondary plants 50 anticipated to be affected by a portion ofthe first volume of water; for each plant of the set, comparing thesecond volume of water with the target volume of water; and selectingthe spray duration in response to determination that the second volumeof water is less than, equal to, or more than (within a predeterminedvolume threshold) the target volume for more than a threshold number ofsecondary plants 50, or selecting the spray duration in response to anyother suitable decision threshold being met. The second volume of watercan be estimated based on the portion of first volume of water, anamount of water instantaneously available to the secondary plant (e.g.,based on historical water application to the plant, such as due torainfall, direct watering, runoff from treatment of other plants, etc.),and an anticipated amount of water to be applied in the future (e.g.,due to forecasted rainfall, watering based on a known schedule, runofffrom anticipated treatment of other plants, etc.). However, the secondvolume of water can be determined in any other suitable manner.

In another example, when the considered treatment is plant necrosis byelectrical discharge, the method includes determining the estimatedstimulation effect of the electric discharge on a growth parameter ofeach of a set of secondary plants 50, which can include determining anamount of secondary electrical discharge estimated to be applied to eachsecondary plant due to the proposed electrical discharge parameters andthe soil conductivity and determining the effect of applying thesecondary electrical discharge to the secondary plant. The effect of thesecondary electrical discharge on the entire plant or on a growthparameter of the plant can be determined. The effect of the electricaldischarge on a secondary plant is preferably determined based on theproposed electrical discharge parameters and the soil conductivity, butcan alternatively or additionally be based on the atmosphericconductivity, resistivity, or any other suitable parameter. Anelectrical discharge parameter (e.g., the voltage, current, or treatmenttime) can be selected in response to determination that the secondaryelectrical discharge will affect the secondary plant. In particular, anelectrical discharge parameter that optimizes the geographic area outputparameter (e.g., based on the target growth parameter for the secondaryplant) can be selected, calculated, or otherwise determined based on theestimated stimulation effect. Alternatively, a predetermined set ofelectrical discharge parameters can be adjusted in response todetermination of adverse affects on a threshold proportion of secondaryplants 50. For example, an electrical discharge parameter can be loweredin response to determination that the secondary electrical dischargewill adversely affect the secondary plant. Alternatively, a differenttreatment method for the primary plant 40 can be selected in response todetermination that the secondary electrical discharge will adverselyaffect the secondary plant.

In another example, when the considered treatment is plant growthregulation by spraying a growth regulator (e.g., growth hormone orfertilizer) on the primary plant 40, the method includes determining anamount of the growth regulator that will be applied to each secondaryplant, based on the magnitude of the wind and the concentration of thegrowth regulator spray. The treatment and associated operationparameters are selected in response to determination that the secondaryplants 50 are to be necrosed, have been necrosed, or will positivelybenefit from the indirect application of growth regulator. In responseto determination that the secondary plants 50 will be adversely affectedby the considered treatment, a second treatment can be selected or thetreatment mechanism operation parameters adjusted. For example, thedroplet charges can be increased (e.g., thereby generating a strongerelectric field that prevents droplet drift toward the secondary plant),the spray angle or position changed to be upwind of the primary plant40, the droplet size increased, the growth regulator concentration inthe working fluid lowered, or the operation parameters adjusted in anyother suitable manner.

The combined effects of treatments on multiple plants can additionallybe considered for a given plant. For example, if plant necrosis byelectrical discharge was being considered for the primary plant 40 andplant displacement using high-pressure spray was used on a first,previously treated secondary plant 20, the effect of the electricaldischarge on a third plant due to increased soil conductivity can bedetermined and used in determining whether primary plant necrosis shouldbe achieved using electrical discharge. In another example, if growthregulation by spraying a growth regulator was selected for a first and asecond plant and growth regulation by spraying a growth regulator isbeing considered for a third plant, the combined effects of indirectgrowth regulator application due to treatment of the first, second, andthird plants on a fourth plant can be determined and used in determiningwhether primary plant growth regulation should be achieved using growthregulator application. However, the indirect effects of primary planttreatment can be otherwise determined and utilized.

b. Plant Dislodgement or Plant Portion Removal

In a first variation of the method, the plant treatment includesdislodging the plant from the substrate 70 (e.g., soil) S110 bydisplacing the supporting substrate from underneath the plant (e.g., bydigging out the plant). The plant can be dislodged by displacing most ofthe substrate under the plant stem, displacing most of the substrate towhich the roots are attached (e.g., remove the substrate from theroots), displacing most of the substrate under the roots (e.g., digunderneath the roots), or displacing any other suitable volume ofsubstrate. The depth of the substrate displacement is preferably deeperthan the root depth, as shown in FIGS. 9A and 9C, but can alternativelybe shallower than the root depth (e.g., and either expose the root(s) orsever the root(s)), as shown in FIG. 9B, or equivalent to the rootdepth. The root depth can be the actual root depth, an estimated rootdepth, or any other suitable depth. The distance of substratedisplacement is preferably at least half the root lateral span (e.g.,such that the plant is unbalanced and falls over due to the plant mass),as shown in FIG. 9A, but can alternatively be less than half the rootlateral span, more than the root lateral span, as shown in FIG. 9B, orbe any other suitable distance. Alternatively, the depth and distance ofthe substrate displacement can be predetermined, selected based on themeasurement, static, or determined in any other suitable manner. Thesubstrate 70 can be displaced by high-pressure working fluidapplication, such as of water or air, but can alternatively be displacedby a digging mechanism (e.g., a shovel or spade), or any other suitablesubstrate displacement mechanism.

Dislodging the plant S110 preferably includes applying a dislodgingforce to the substrate surrounding the plant. The dislodging force canbe applied by a high-pressure spray mechanism, a digging forceapplicator (e.g., a shovel), or any other suitable force applicator. Thehigh-pressure spray mechanism preferably applies a high-pressure sprayof working fluid, wherein the working fluid can be water, air, or anyother suitable working fluid. The method can additionally includepressurizing the working fluid to a spray pressure. The spray pressureis preferably constant throughout system operation, but canalternatively be variable dependent upon the treatment parameters. Themethod can additionally include mixing additives into the working fluidto obtain a predetermined concentration.

Dislodging the plant S110 preferably includes identifying a plant withina geographic area S100, identifying a plant feature for use in treatmentapplication S200, determining a set of operation parameters for atreatment mechanism S300, and operating the treatment mechanism in thetreatment mode S400. More preferably, dislodging the plant S110 includesidentifying a plant within a geographic area S100; identifying a plantfeature S200, including identifying a junction 60 between a plant stemand a substrate supporting the plant; determining a junction distance;determining a set of operation parameters for a treatment mechanismS300, including determining an initial spray parameter based on thejunction distance; and operating the treatment mechanism in thetreatment mode S400 in response to satisfaction of the initial sprayparameter.

The inventors have discovered that increased displacement distances canbe achieved with increased continuous or substantially continuous spraytime, using the same pressure, even as the active area (e.g., sprayedarea) is moving. This is because once an initial crack is formed in thesubstrate 70, the substrate 70 adjacent the crack is weakened and isdisplaced more easily with application of the same force. In operation,the further away the plant junction 60 is from the system traversalpath, the earlier and/or further away from the junction 60 the systemshould begin spraying. Alternatively, the further away the plantjunction 60 is from the system travel path, the longer the system shouldspray.

Identifying a junction 60 between a plant stem and a substrate 70supporting the plant functions to identify a plant feature thatfunctions as a reference point from which a spray duration and/or sprayposition can be determined. The junction 60 is a plant feature, whereinthe junction 60 is identified in a similar manner in which the plantfeature is identified, as discussed above. In particular, processing theimage to identify the junction 60 can include extracting a ground planefrom the image, and identifying a plant stem (plant support structure)proximal the sensor within the image, and identifying the junction 60between the plant stem and the ground plane (e.g., based on distanceanalysis, color analysis, pattern analysis, etc.). The junction 60 ispreferably identified in a measurement of the geographic area thatincludes the junction 60 (e.g., interface between the plant stem and thesubstrate 70). In one variation, the measurement is an optical imagecaptured at an angle between a vector parallel to the substrate surfaceand a normal vector to the substrate surface. However, the measurementcan be any other suitable measurement.

Determining a junction distance functions to determine a geographicaldistance between the plant, more preferably the junction 60, and ananticipated position of a treatment mechanism. The anticipated positionof the treatment mechanism is preferably determined based on thetraversal path for the treatment mechanism, wherein the anticipatedposition of the treatment mechanism can be the geographic location atwhich a tangent to the traversal path is substantially aligned with theplant junction 60. Alternatively, the anticipated position of thetreatment mechanism can be the geographic location at which the activearea is closest to the plant junction 60. The treatment mechanism ispreferably angled perpendicular to the system traversal vector, whereinthe active area is substantially aligned with the junction 60 at theanticipated position, but can alternatively be arranged at an anglerelative to the system traversal vector, wherein the anticipatedposition of the treatment mechanism is further dependent upon thetreatment mechanism angle. However, the anticipated position of thetreatment mechanism can be determined in any other suitable manner. Theanticipated position is preferably determined based on an instantaneoussystem traversal vector (treatment mechanism traversal vector, sensortraversal vector, etc.), but can alternatively be determined based on apredetermined traversal path (e.g., pre-programmed path for the system),a geographical feature (e.g., a road or furrow, as determined based onthe instantaneous system position and a map, satellite views, and/oruser entries), or based on any other suitable position parameter.

However, the junction distance 61 can be determined in any othersuitable manner. For example, the junction distance 61 can be determinedbased on the geographic location associated with the plant featuremeasurement (e.g., the geographic location at which the plant featuremeasurement was taken), the detection mechanism angle relative to thesystem traversal vector, the system traversal vector magnitude (e.g.,system velocity) and the distance between the junction 60 and thedetection mechanism 100. The distance between the junction 60 and thedetection mechanism 100 can be determined from the plant featuremeasurement (e.g., using a stereoview), from a distance measurement(e.g., LIDAR), using known marker size comparisons, from theinstantaneous system geographic location and an estimated or known plantgeographic location, or determined in any other suitable manner. Inanother example, determining the junction distance can includeextracting a preliminary distance between the sensor and the plant anddetermining the junction distance based on the preliminary junctiondistance 61 and a predetermined distance between the first sensor andthe treatment mechanism. Determining the junction distance can furtherinclude correcting the preliminary junction distance 61 based on thesystem velocity.

Alternatively, the high-pressure spray mechanism can be used to remove aportion of the plant. In this specific variation, the method can includeidentifying a portion of the plant to be removed (e.g., wherein theidentified plant portion is diseased, too close to a neighboring plantportion or plant, or has any other suitable characteristic), andoperating the treatment mechanism in the treatment mode (e.g., highpressure spray mode) to remove the plant portion. The treatmentmechanism operation parameters, such as the pressure and duration, arepreferably selected based on the parameters of the plant portion to beremoved or affected by the applied force. For example, higher pressurescan be used to cut thicker plant stems.

Determining an initial spray parameter based on the junction distance 61functions to determine when and/or where the system should startspraying. The initial spray parameter is preferably determined when thetreatment mechanism is statically mounted (e.g., fixed) relative to themounting mechanism and/or emits working fluid at a substantiallyconstant pressure (e.g., non-variable or adjustable). Varying excavationdistances relative to the system can be achieved by varying the sprayduration, even though the working fluid is sprayed at the same arearelative to the system. The initial spray parameter can be an initialspray time, an initial spray position, or any other suitable sprayparameter. The initial spray parameter is preferably determined based ona spray duration. The initial spray time can be the estimated time atwhich the treatment mechanism will be located at the anticipatedposition, less the spray duration. For example, if the spray duration is10 seconds, then the treatment initiation time is 10 seconds before thetreatment mechanism is aligned with the plant junction 60. The initialspray position can be the position at which the system must beginspraying in order to spray for the spray duration, given the systemvelocity.

The spray duration is preferably determined based on the spray pressure(e.g., predetermined, measured, or anticipated) and the junctiondistance 61, wherein the spray is preferably sufficient to excavate ordisplace substrate at or proximal the junction 60 after spraying for thespray duration. The spray duration can additionally be determined basedon the ambient environment parameters, such as soil saturation, soillooseness or compactness, soil porosity, soil rigidity, soil retentionrate, soil erosion, wind speed, wind direction, humidity, or any othersuitable ambient environment parameter. For example, the spray durationcan be increased for harder or more compacted soil, dryer environments,or higher wind speeds. The ambient environment parameter can beretrieved, determined based on historical records generated within atime window of the instantaneous time (e.g., based on historicalrainfall and watering patterns), determined based on historical recordsassociated with the geographical location of the geographic area,determined based on substantially instantaneous measurements, ordetermined in any other suitable manner. Alternatively, the sprayduration can be determined by estimating an amount of substrate to beremoved based on the junction distance 61 (e.g., the distance from thetraversal path, the depth and shape of the trench 62, etc.) andestimating an amount of removal time (the spray duration) based on theamount of substrate to be removed and the pressure. The spray durationcan be predetermined, selected from a chart or graph, calculated, orotherwise determined.

Operating the treatment mechanism in the treatment mode S400 in responseto satisfaction of the initial spray parameter functions to spray thegeographic area for a long enough time, such that the plant is at leastpartially dislodged. The system preferably translates along thetraversal path during treatment mechanism operation in the treatmentmode (e.g., as the system sprays), but can alternatively stop and remainstatic. The system translation rate is preferably the same rate as whenthe treatment mechanism was in the standby mode, but can alternativelybe a different rate. Operating the treatment mechanism in the treatmentmode S400 preferably includes spraying the active area with a continuousor intermittent stream of pressurized working fluid.

Operating the treatment mechanism can additionally include selectingtreatment mechanism operation parameters. The operation parameters arepreferably selected based on the junction distance 61, but canalternatively or additionally be selected based on the system velocity,ambient environment parameters, plant parameters, or any other suitableinformation. The operation parameters can include the spray duration,initial spray time, initial spray position, spray pressure, spraytemperature, spray charge, spray composition, or any other suitableoperation parameter. The operation parameters can additionally includethe spray pattern 212. The spray pattern 212 can be constant, vary withtime or proximity to the plant, or vary in any other suitable manner. Inone variation of the method, the selected spray pattern 212 changes froma solid stream, to create a crack in the substrate 70, to a flat spraypattern that removes a larger area of substrate 70. In anothervariation, the selected spray pattern 212 is maintained as a solidstream to dig deeper into the substrate 70. The system velocity can bevaried to accommodate the spray pattern 212. The spray pattern 212 ispreferably selected based on the desired function, wherein the desiredfunction can be determined based on the ambient environment parameters(e.g., soil hardness, etc.) and/or plant parameters (e.g., root depth,root thickness, root spread, etc.). For example, a first spray pattern(e.g., a wide spray pattern) can be selected for plants having fibrousroots and a second spray pattern and/or spray duration selected forplants having tap roots. When the operating parameters are selectedbased on the plant parameters, the method can include classifying theplant, estimating a plant root depth based on the classification,determining an amount of substrate to be removed based on the plant rootdepth, and determining an amount of removal time (spray duration) suchthat a resultant depth of the substrate to be removed is at least apredetermined percentage (e.g., 10%, 50%, 90%, etc.) of the plant rootdepth. In another example, a first spray pattern (e.g., cone spraypattern, tight spray pattern, etc.) can be selected to cut, sever, orotherwise apply a mechanical force to a plant portion.

Alternatively or additionally, the method can include selecting a sprayangle for the nozzle 211. This can be particularly desirable when thenozzle 211 is actuatable about a rotational axis. The rotational axis ispreferably oriented parallel the mounting mechanism longitudinal axis,but can alternatively be perpendicular the mounting mechanismlongitudinal axis or arranged in any other suitable manner. The selectedspray angle is preferably based on the junction distance 61, with largerangles selected for larger distances, but can alternatively oradditionally be determined based on the instantaneous or anticipatedworking fluid pressure, based on the ambient environment parameters(e.g., wind speed), or determined in any other suitable manner. Themethod can additionally include translating the system to align theactive area with a treatment position. For example, the system canautomatically deviate from the traversal path in a direction toward thejunction 60 in response to detection of a junction distance 61 beyond athreshold distance. The system can automatically recover the traversalpath after plant treatment. However, the treatment mechanism operationparameters can be otherwise selected.

c. Plant Cauterization

In a second variation of the method, the plant treatment includescauterizing the tissues of a plant section. The plant that is cauterizedis preferably below a threshold size (e.g., threshold mass, height, stemthickness, etc.), such as below 10 cm, 5 cm, 1 meter, or any othersuitable threshold, but can alternatively be any size. The plant can becauterized by applying high voltage electric power to the plant, byapplying a heating element to the plant, or cauterized in any othersuitable manner. The cauterization preferably changes the plant cellstructure (e.g., ruptures or otherwise changes the cell structure), suchthat nutrient and/or water transfer beyond the cauterized section ishindered or prevented, but cauterization can otherwise affect the plant.After cauterization, the plant portion distal the plant stem or rootsystem, beyond the cauterized section, preferably necroses (e.g., dies).However, the probability of plant portion necrosis is preferably relatedto the degree of section cauterization, wherein plant cauterizationbeyond a threshold degree (e.g., section cauterization length, sectioncauterization depth, temperature increase, etc.) preferably correspondswith a high probability of plant portion necrosis, and plantcauterization lower than the threshold degree is preferably associatedwith lower probabilities of plant necroses with lower degrees of plantcauterization.

For these reasons, cauterization by electric discharge can be moreefficacious than direct heat application (e.g., RF heat application).The inventors have discovered that applied electric discharge willaffect (e.g., cauterize) the plant section 90 having the highestelectric resistance located between the discharge application point andelectrical ground (e.g., the substrate 70). This section 90 can be thethinnest section of the plant (e.g., the portion of the plant having thesmallest cross-section), the densest section of the plant, or apreviously fully or partially cauterized section of the plant, or haveany other suitable characteristic. This results in cauterization of aplant cross-section, thereby creating a nutrient and water blockage inthe fluid path between the root and/or stem system and the plant portionto be necrosed. The thinnest portion of the plant can be a portion ofthe stem, a junction 60 between the stem and the root, a root, aninternode, an axil between a lateral shoot and the stem, a petiole, aflower stalk, or any other suitable portion of a plant. In operation,electric discharge applied to a portion of the plant will travel alongthe plant, toward electrical ground, which can be the substrate 70, agrounding electrode applied to the plant by the system, or any othersuitable electrical ground. More preferably, the electric discharge willtravel along the plant toward the root system, which is connected to thesubstrate 70, and will cauterize the thinnest plant section along thatpath. Furthermore, plant growth can be stimulated by small doses ofelectric discharge application. Therefore, plant cauterization throughelectric discharge application can additionally minimize adversetreatment effects on adjacent plant portions and/or plants electricallyconnected to the treated plant.

Cauterizing the plant S120 preferably includes identifying a plantwithin a geographic area S100, identifying a plant feature for use intreatment application S200, determining a set of operation parametersfor a treatment mechanism S300, and operating the treatment mechanism inthe treatment mode S400. More preferably, cauterizing the plant S120includes identifying a plant, in-situ, within a geographic area;determining a set of operation parameters for a treatment mechanismS300, including selecting a treatment position on the in-situ plant forelectric discharge application, wherein selecting the treatment positionincludes identifying a plant feature S200, wherein identifying the plantfeature includes determining a plant cross-section, more preferably ahigh-resistance cross-section (e.g., relative to the remainder of theplant); and applying electric discharge to the treatment position byoperating the treatment mechanism in the treatment mode S400. The methodcan additionally include determining a portion of the plant to benecrosed, prior to treatment position selection.

Determining a portion of the plant to be necrosed can includedetermining to necrose the entirety of the plant or determining tonecrose a portion of the plant. Determining to necrose a portion of theplant can additionally include identifying a specific portion of theplant to necrose (e.g., a side of the plant, a branch of the plant, afruit of the plant, etc.). The determination is preferably based on thegeographic area output parameter maximization, as discussed above, butcan alternatively be based on an instantaneous measurement of planthealth, plant portion health, or based on any other suitable parameter.For example, a plant branch proximal a secondary plant can be identifiedfor plant necrosis in response to determination that the plant branchwill crowd (e.g., impede growth of) the secondary plant.

Selecting a treatment position on the in-situ plant for electricdischarge application functions to select a treatment position on theplant that will result in electric discharge concentration at a plantcauterization section, wherein cauterization of the plant cauterizationsection substantially isolates or otherwise decreases nutrientcommunication between the plant portion identified for necrosis and theremainder of the plant. The treatment position is preferably selectedbased on a plant cross-sectional dimension (e.g., a plant feature). Morepreferably, the treatment position is selected based on the location ofa local minima, wherein the plant section is arranged along the plant,between the root system and the plant portion to be necrosed. The localminima is preferably the plant section having the smallest or narrowestcross-sectional dimension of the plant that is located in anintermediary plant section between the root system and/or electricalground and the plant portion to be necrosed, but can alternatively be asection of the intermediary plant section having a cross-sectionaldimension less than a threshold dimension, or be determined in any othersuitable manner. The local minima is preferably determined from analysisof a measurement or a combination of multiple measurements recordedconcurrently or asynchronously. The measurement can be the firstmeasurement, or can be a second measurement. The measurement can be astereoview, single view, multispectral measurement, LIDAR measurement,or any other suitable measurement. The selected treatment section ispreferably located along the plant portion to be necrosed, distal theplant portion to be retained across the local minima plant section fromelectrical ground. However, the treatment section can be any othersuitable section.

Alternatively, the treatment position can be determined iteratively. Forexample, a first treatment position can be selected, and the method caninclude adjusting the treatment position in response to determination ofa second plant portion between the first treatment position and thejunction having a cross section with a smaller dimension than the plantportion to be necrosed. However, the treatment position can be selectedin any other suitable manner.

In one variation, the entire plant is to be necrosed. The selectedtreatment position is preferably based on the narrowest plant section,most proximal the plant root system. Alternatively, the selectedtreatment position can be a thick portion of the stem proximal the plantroot system (e.g., proximal the substrate 70), with no intermediaryplant sections that are narrower than the treatment position.Alternatively, the selected treatment position can be any other suitableposition on the plant or in the ambient environment proximal the plant.Selecting the treatment position can include identifying a section ofthe plant stem, more preferably a section of the plant stem contiguouswith a substrate 70 supporting the plant; estimating a cross-sectionalminima of the section; and selecting a treatment position on the plantfor electric discharge application, the treatment position locatedbetween the cross-sectional minima of the section and the substrate 70.

In another variation, a portion of the plant is to be necrosed, such asa branch, fruit, or other portion. The selected treatment position ispreferably based on the narrowest plant section between the plantportion to be necrosed and the plant portion to be retained. Theselected treatment position is preferably on the plant portion to benecrosed, but can alternatively be on any other suitable plant portion.Alternatively, the selected treatment position can be any other suitableposition on the plant or the ambient environment. Selecting thetreatment position can include identifying a plant section electricallyarranged between the plant portion to be necrosed and electrical ground,the plant section having a cross-sectional dimension smaller than across-sectional dimension of a second plant portion determined forretention, the second plant portion electrically arranged between theplant section and the substrate 70; and selecting a position on theplant, opposing the second plant portion across the plant section, asthe treatment position.

The method can additionally include creating a local minima on theplant, as shown in FIG. 22A. The local minima is preferably createdafter determining a portion of the plant to be necrosed, but canalternatively be created at any other suitable time. The local minima ispreferably created in response to determination that the intermediaryplant portion between the plant portion to be necrosed and the electricground lacks a local minima, but can alternatively be created for everycauterization or created in response to any other suitable event.Creating the local minima preferably includes identifying anintermediary plant portion, selecting a plant section within theintermediary plant portion, and reducing the cross section of theselected plant section S121. The selected plant section is preferably aplant section that is easily accessible to the system (e.g., accessiblewithout damaging other plant portions), but can alternatively be anyother suitable plant section. Reducing the cross section can includecutting the plant section, knicking the plant section, or otherwisereducing the cross section. Alternatively, the method can includeincreasing the resistivity of the plant section instead of reducing thecross section, such as by cauterizing the plant section with a firstline or point cauterization mechanism (e.g., by using RF heat ormicrowave heat). The local minima can be otherwise created.

Applying electric discharge to the treatment position functions tocauterize the plant section. Applying the electric discharge to thetreatment position can include positioning a treatment mechanism at thetreatment position electrically distal electrical ground, with the plantsection (e.g., local minima) located between the application positionand electrical ground, and operating the treatment mechanism in thetreatment mode S400, as shown in FIG. 22B. In one variation, thetreatment mechanism is a Tesla coil 240 with an applicator wire, whereinpositioning the treatment mechanism includes mechanically coupling theapplicator wire to the treatment position. In another variation, theapplicator wire can be retained within a predetermined distance of thetreatment position (e.g., 1 cm away, 1 mm away, etc.). In anothervariation, the treatment mechanism includes a first and secondelectrode, wherein the electric discharge is generated between the firstand second electrodes. In this variation, positioning the treatmentmechanism includes arranging the first and second electrodes on opposingsides of the treatment position on the plant. However, the treatmentmechanism can be any other suitable mechanism and positioned in anyother suitable position.

Operating the treatment mechanism in the treatment mode S400 preferablyincludes providing sufficient power input to achieve a set of treatmentparameters. The treatment parameters can be predetermined or dynamicallydetermined. The treatment parameters can include the electric dischargevoltage, the electric discharge current, the duration of electricdischarge application, or any other suitable electric dischargeparameter. In one variation, operating the treatment mechanism in thetreatment mode S400 includes emitting electric discharge at 50 kV orhigher. However, the electric discharge can be emitted at any othersuitable voltage. The electric discharge current is preferably low(e.g., 1 mA, 1 A, 10 A, etc.), but can alternatively be high (e.g., 100A), or any other suitable current magnitude.

In a second variation, the method can include determining the set ofelectric discharge parameters based on a translation velocity of atreatment mechanism configured to emit the electric discharge. Inparticular, the electric discharge current can be selected based on thesystem translation velocity, wherein higher currents are selected forfaster velocities, and lower currents are selected for slowervelocities. However, the electric discharge voltage, electric dischargeapplication duration, or any other suitable parameter can be selectedbased on the translation velocity.

In a third variation, the method can include determining the set ofelectric discharge parameters based on ambient environment parameters.Determining the set of electric discharge parameters based on ambientenvironment parameters can include determining the set of electricdischarge parameters based on an electrical conductivity of thesubstrate 70 and target growth parameters for secondary plants 50 withinthe geographic area that are electrically connected to the plant, asdiscussed above. However, the set of electric discharge parameters canbe determined in any suitable manner.

Alternatively, the treatment can be applied to a geographic region, morepreferably a geographic region within the geographic area, wherein allplants are to be treated with the same treatment. For example, allplants in geographic region can be necrosed (e.g., the furrow betweenthe crop rows). In this variation, the method can include identifying ageographic region for cauterizing treatment application, and in responseto collocation the active area of the electric discharge mechanism andthe geographic region, operating the electric discharge mechanism in thetreatment mode based on a set of operation parameters, wherein theoperation parameters are selected based on a system parameter. Thegeographic region can be a region predetermined to have all or most(e.g., 90%, 70%, etc.) of the plants necrosed, a set of substantiallycontinuous plants identified to be necrosed, or any other suitablegeographic region. The active area is preferably the area to which theelectric discharge is applied by the electric discharge mechanism. Theelectric discharge mechanism is preferably operated in the treatmentmode when the active area is aligned with or within the geographicregion, and preferably operated in the standby mode when the active areais outside of the geographic region. However, the electric dischargemechanism can be otherwise operated. Collocation of the active area andthe geographic region can be determined based on timing, odometry,geographic location (e.g., through GPS), or any other suitable method.The method can additionally include selecting the treatment mechanismoperation parameters for the electric discharge mechanism, as discussedabove. For example, the electric discharge mechanism operationparameters can be determined based on system parameters (e.g., systemspeed, etc.), ambient environment parameters (e.g., humidity,temperature, soil conductivity, etc.), or any other suitable set ofparameters. In a specific example, the amount of current can be selectedbased on system velocity.

d. Growth Regulator Application

In a third variation of the method, the plant treatment includesregulating plant growth by applying a growth regulator to the plantS130. The growth regulator can be specifically applied to a feature ofthe plant (e.g., the fruit, flower, stigma, style, stomata, top-facingleaves, young or old leaf, as determined from the color and/or shape,leaves proximal the ground, apical bud, terminal bud, node, etc.),applied to a plant portion (e.g., the top of the plant), or generallyapplied to the plant (e.g., be untargeted toward a specific plantportion). The growth regulator is preferably sprayed (e.g., misted) ontothe plant, but can alternatively be brushed onto the plant, dusted ontothe plant, rolled onto the plant, or otherwise applied to the plant.Alternatively, plant growth can be regulated by applying the growthregulator to the ambient environment, such as the atmosphere surroundingthe plant, the substrate adjacent the plant, or any other suitableportion of the ambient environment. However, the growth regulator can beapplied to any other suitable location.

Regulating plant growth S130 preferably includes identifying a plantwithin a geographic area S100, identifying a plant feature for use intreatment application S200, determining a set of operation parametersfor a treatment mechanism S300, and operating the treatment mechanism inthe treatment mode S400. More preferably, regulating plant growth S130includes identifying a plant within a geographic area S100, identifyinga plant feature for growth regulator application, determining atreatment position relative to the plant feature, and operating thetreatment mechanism to apply the growth regulator to the plant. Thegrowth regulator is preferably mixed into a working fluid, wherein theworking fluid can be a liquid, such as water or another liquid, or agas. The growth regulator can be a growth promoter (e.g., growthhormone, nitrogen, potassium, phosphorous, etc.), fertilizer, growthretardant, water, defoliators, bacteria, acid, base, organic material,salts, fumigant, fungicide, adjubants, gas, dust, or any other suitablegrowth regulation compound. The plant is preferably identified throughthe first measurement, as discussed above, but can alternatively bedetermined in any other suitable manner.

The plant feature is preferably identified in the manner discussedabove, but can alternatively be determined in any other suitable manner.The plant feature is preferably identified from the first measurement,but can alternatively be determined from a second measurement. The plantfeature can be identified from measurements of an entire side of aplant, the top-facing leaves of the plant, the top leaves of the plant,the leaves proximal the insertion point, a leaf inferior the insertionpoint, the leaves within a predetermined distance from substrate 70, ormeasurements of any other suitable plant portion. The growth regulatoris preferably applied to the identified plant feature, but the plantfeature can additionally or alternatively be used to identify atreatment position or used in any other suitable manner. Examples ofplant features include leaves, flowers (e.g., corn silks), and stomata,but any other suitable plant feature can be identified. Any suitablenumber of plant features can be identified from one or moremeasurements.

Determining a treatment position relative to the plant feature functionsto determine a position for the treatment mechanism that will result ingrowth regulator application to the plant feature. In a first variation,the treatment is to be applied to a broad surface of a leaf. Thetreatment position preferably is an interleaf insertion point, locatedbetween a top or first surface of a first leaf (e.g., superior the firstleaf) and a bottom or second surface of a second leaf (e.g., inferiorthe second leaf), wherein the first leaf is targeted for treatment. Inone example, identifying the interleaf position includes analyzing anoptical image to identify a superior and inferior plant leaf andselecting a point between the superior and inferior plant leaves as theinsertion point selecting a point between the superior and inferiorplant leaves as the insertion point. Alternatively, the treatmentposition is the top of the plant, wherein the nozzle is positionedsuperior the plant along a gravity vector. The top of the plant can bedetermined from images, mechanical determination, or determined in anyother suitable manner. Alternatively, the treatment position can beadjacent the plant or leaf, at an angle to the plant or leaf, below theplant or leaf, or be any other suitable position. In a second variation,the treatment is to be applied to a flower, wherein the treatmentposition is preferably proximal the flowers on the plant, morepreferably above the flowers (e.g., superior the flowers along a gravityvector) but alternatively proximal (e.g., on substantially the sameplane as the flowers relative to the gravity vector) or below theflowers (e.g., inferior the flowers along the gravity vector). However,any other suitable treatment position can be selected. The treatmentposition can additionally be selected based on ambient environmentparameters. For example, in response to determination of a winddirection, the selected treatment position can be upwind of the targetedplant feature.

Operating the treatment mechanism to apply the growth regulator to theplant preferably includes actuating the treatment mechanism to align theactive area with the treatment position and misting the growth regulatoron the plant feature. Alternatively, operating the treatment mechanismto apply the growth regulator can include passively aligning thetreatment mechanism active area with the treatment position by movingthe entire system such that the treatment position is in range of theactive area or the active area is aligned with the treatment positionand spraying the growth regulator on the plant feature. Misting thegrowth regulator preferably includes forming droplets including growthregulator. Misting the growth regulator can additionally includecharging the droplets. Misting the growth regulator can additionallyinclude electrically connecting the system, as shown in FIG. 23A, morepreferably the charging electrode but alternatively any other suitablesystem component, to the plant S131.

Forming the droplets function to generate droplets of the working fluid202, wherein the working fluid preferably includes the growth regulator.The droplets can have a substantially uniform size (e.g., diameter) orhave different sizes (e.g., wherein the droplet population has a sizedistribution). The droplets can be formed by aerosolizing the workingfluid, electrospraying the working fluid (e.g., by forming a Taylorcone), or be otherwise formed.

The droplets can be charged or uncharged. Droplet charging can assist inaerosolization. Droplet charging can additionally or alternativelyassist in targeted droplet application to the plant feature. Theplurality of droplets are preferably charged to a single polarity (e.g.,either positive or negative), but can alternatively be charged todifferent polarities. The droplets can be charged to the Rayleigh chargelimit, such that the droplets aerosolize due to charge interactions.Alternatively, the droplets can be charged below the Rayleigh chargelimit, to control droplet dispersion. The droplets can be charged beforeemission or after droplet generation, after emission or dropletgeneration, as the droplet is emitted from the treatment mechanism ornozzle 211, before droplet application to the plant, or after dropletapplication to the plant. Charging the droplet preferably includesgenerating an electric field having a higher field concentration at apoint proximal the nozzle 211 and distal the electric field (e.g., withan electrode proximal the nozzle 211), but the droplets can be otherwisecharged.

In variations in which the droplets are charged, the method canadditionally include electrically connecting the system, more preferablythe charging electrode but alternatively any other suitable systemcomponent, to the plant. The system can be electrically connected to thesubstrate 70, wherein the substrate 70 electrically connects the systemto the plant. Alternatively, the system can be electrically connected toan accessible plant portion, such as a stem. Alternatively, the systemcan be electrically connected to the plant feature to which the growthregulator is to be applied. Alternatively, the system can beelectrically connected to the plant in any other suitable manner.

Operating the treatment mechanism to apply the growth regulator to theplant can additionally include selecting treatment mechanism operationparameters, such as the working fluid emission pressure, the dropletsize, the droplet charge, the nozzle position, the nozzle shape, theamount of growth regulator to be applied (e.g., growth regulatorconcentration, growth regulator mass, etc.), the duration of workingfluid misting, or any other suitable parameter.

The treatment mechanism operation parameter value is preferably selectedbased on the target plant parameter. For example, a first fertilizerconcentration can be selected in response to a determination to necrosethe plant, while a second fertilizer concentration can be selected inresponse to a determination to stimulate plant growth, wherein the firstconcentration is preferably higher than the second concentration.Alternatively or additionally, the treatment mechanism operationparameter can be determined based on the plant age, growth stage, orbased on any other suitable plant parameter. However, the treatmentoperation parameter value can be otherwise determined. The treatmentmechanism operation parameter preferably includes the amount of growthregulator to be applied to the plant, but can alternatively oradditionally include the duration of growth regulator application to theplant, the temperature, charge, or pressure of the growth regulator tobe applied to the plant, or any other suitable parameter of growthregulator application. However, the treatment mechanism operationparameter can be any other suitable parameter.

In one variation, the treatment mechanism operation parameter value isselected based on a plant growth regulator capacity, or the capacity ofthe plant to receive the growth regulator without necrosing. The amountof growth regulator applied is preferably less than the plant growthregulator capacity, but can alternatively be equal to or more than theplant growth regulator capacity. Higher growth regulator concentrationsand/or application durations are preferably selected for plants havinghigher plant growth regulator capacities, and lower growth regulatorconcentrations and/or application durations are preferably selected forplants having lower plant growth regulator capacities. Alternatively,higher growth regulator concentrations and/or longer applicationdurations can be selected for younger plants, plants lagging behind ingrowth stages relative to other plants within the geographic area, orfor any other suitable set of plants. However, the amount of growthregulator applied to the plant can be determined in any other suitablemanner. The plant growth regulator capacity is preferably estimated, butcan alternatively be empirically determined, selected from a chart, orotherwise determined. In one variation, the plant growth regulatorcapacity is determined based on the plant size. For example, a firstplant growth regulator capacity is selected for a first plant with afirst mass, and a second plant growth regulator capacity lower than thefirst is selected for a second plant with a second mass lower than thefirst.

In a second variation, the plant growth regulator capacity is determinedbased on a stomatal parameter. The stomatal parameter can be a stomatalopening parameter, a stomatal concentration on the plant feature orplant portion to which the treatment is to be applied, a number ofstomata on the plant feature, a number of stomata on the plant, astomatal distribution over the plant or plant feature, or any othersuitable stomatal parameter. Examples of stomatal opening parametersinclude a degree (e.g., proportion) of stomatal opening for a set ofstomata on the plant portion (e.g., leaf, set of leaves, etc.), theproportion of stomata in a set of stomata that are open beyond athreshold degree, and a degree of stomatal opening for each stomata(e.g., based on the ratio of the stomatal width to the maximum length ofa stomatal pore and the pore area), but the stomatal opening parametercan include any other suitable measure of stomatal opening. Determiningthe stomatal parameter preferably includes recording an image of theplant portion (e.g., leaf) using multispectral, IR, or any othersuitable image capturing method, identifying stomata within the image,and determining (extracting, recognizing, etc.) the stomata parameterfor the plant portion from the image. For example, determining thestomatal opening parameter includes determining the stomata dimensionsfrom the image and calculating the stomata parameter based on theextracted dimensions. However, the parameters can be otherwisedetermined. The determined plant growth regulator capacity is preferablyinversely related to the stomatal opening parameter, wherein increasedcapacity is determined for lower degrees of stomatal opening and lowercapacity is determined for higher degrees of stomatal opening.

The determined plant growth regulator capacity is preferably inverselyrelated to the stomatal parameter value, but can alternatively bedirectly related. For example, increased capacities can be determinedfor lower degrees of stomatal opening, while lower capacities can bedetermined for higher degrees of stomatal opening.

The treatment mechanism operation parameter values can be selected basedon the plant feature to be treated. For example, more growth regulatorcan be applied to older leaves than to younger leaves. Older leaves canbe identified by coloration (e.g., wherein the older leaves are darkeror have a higher brown to green ratio), spatial location on the plant(e.g., wherein the older leaves are located lower the plant, closer tothe root system), or identified in any other suitable manner.

The treatment mechanism operation parameter values can be selected basedon ambient environment parameters. For example, the droplet charges canbe increased in response to increased wind speed. In another example,the droplet charge, emission pressure, size, or composition can beadjusted based on the ambient environment temperature and/or humidity.The treatment mechanism operation parameter values can additionally oralternatively be selected based on geographic area output parametermaximization. In particular, the treatment mechanism operation parametervalues can be selected to maximize the target plant parameter value forthe plant, and/or be selected based on the effect of the treatment onsecondary plants 50, as discussed above. The treatment mechanismoperation parameter values can be selected based on the systemparameters, such as the system velocity. For example, the mistingduration can be decreased in response to increased system velocity. In asecond example, the growth regulator concentration in the working fluidcan be increased in response to increased system velocity (e.g., due tothe decreased misting duration). Alternatively, the treatment mechanismoperation parameter values can be selected based on ambient environmentparameters, such as temperature, humidity, ambient light, or any othersuitable ambient environment parameter. For example, a first amount ofgrowth regulator can be applied to the plant in response to a firstambient temperature, and a second, larger amount of growth regulator canbe applied to the plant in response to a second, higher ambienttemperature. The increased amount of growth regulator can accommodatefor and/or take advantage of the increased internal plant rate. Inanother example, a first amount of growth regulator can be applied tothe plant in response to a first ambient humidity, and a second, smalleramount of growth regulator can be applied to the plant in response to asecond, higher ambient humidity. This can accommodate for the higher dewpoint due to the higher humidity. However, the treatment mechanismoperation parameter values can be selected in any other suitable manner.

Operating the treatment mechanism to apply the growth regulator to theplant can additionally include mixing growth regulator into the workingfluid to form a solution. The resultant growth regulator concentrationis preferably determined based on the operation parameters, but canalternatively be predetermined or otherwise determined.

Operating the treatment mechanism to apply the growth regulator canadditionally include applying the growth regulator to the same plantfrom a first and a second side. In a system variation in which thesystem traverses along the field furrows, the treatment is preferablyapplied to the plant from the first side during a first pass along afirst furrow, and applied to the same plant from a second side during asecond pass along a second furrow. In one variation, the method includesdetermining the target plant parameter value for the plant S510 inresponse to plant identification from a first angle, storing the targetplant parameter, treating the plant from the first angle, and, inresponse to identifying the plant a second time from a second angledifferent from the first (e.g., opposing the first angle), treating theplant from the second angle based on the target plant parameter.Alternatively, the method can include in response to identifying theplant a second time, selecting a second set of operation parameters forthe plant based on the first set of operation parameters, and operatingthe treatment mechanism in the application mode according to the secondset of operation parameters. However, the plant can be treated frommultiple angles in any other suitable manner. The plant is preferablyidentified the second time within a threshold time period after initialplant identification (e.g., within a time window from plantidentification from the first angle, such as within the same operatingsession, within an hour, etc.), but can alternatively be identified atany other suitable time. The plant can be identified based on a uniqueidentifier for the plant, such as a tag, a unique geographic position, aunique plant pattern (e.g., stomata, sunspots, leaf edgeirregularities), or any other suitable identifier. Alternatively, theplant can be identified a second time, wherein the selected treatment ortreatment parameters can be substantially independent from thepreviously selected treatment or treatment parameters for the plant.

In one variation, the plant feature is a set of leaves, wherein the leafedges, petioles, or any other suitable leaf feature can be identifiedwithin the measurement. The leaf size and orientation are preferablyestimated based on the identified leaf features, but can alternativelybe measured (e.g., using LIDAR). The leaves are preferably subsequentlyused to determine interleaf insertion points.

The working fluid can be applied to the plant or to the ambientenvironment (e.g., area surrounding or adjacent the plant). In a firstexample, in response to identification of a plant (e.g., crop) forgrowth promotion, the method includes spraying the plant with agrowth-promoting working fluid. Alternatively, the method can includespraying the area surrounding the crop with growth-retarding ornecrosing working fluid (e.g., a large amount of fertilizer, a strongacid or base, salt, spraying the plant for a long duration, etc.). In asecond example, in response to identification of an undesired plant fornecrosis or growth retardation (e.g., a weed), the method includesspraying the plant with a growth-retarding or necrosing working fluid.Alternatively, the method can include spraying the area surrounding theundesired plant with a growth-promoting working fluid, such that theplants surrounding the undesired plant crowd out the undesired plant.

An alternative embodiment preferably implements the above methods in acomputer-readable medium storing computer-readable instructions. Theinstructions are preferably executed by computer-executable componentspreferably integrated with a plant treatment system. The plant treatmentsystem can include a plant identification system, output parameteroptimization system, and treatment mechanism operation parameterdetermination system. The computer-readable medium may be stored on anysuitable computer readable media such as RAMs, ROMs, flash memory,EEPROMs, optical devices (CD or DVD), hard drives, floppy drives, or anysuitable device. The computer-executable component is preferably aprocessor but the instructions may alternatively or additionally beexecuted by any suitable dedicated hardware device.

Although omitted for conciseness, the preferred embodiments includeevery combination and permutation of the various system components andthe various method processes.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the preferred embodiments of the invention withoutdeparting from the scope of this invention defined in the followingclaims.

What is claimed is:
 1. A method comprising: accessing an image of afield comprising a plurality of plants, the image comprising a pluralityof pixels and captured by a farming machine moving through the field;classifying, by a computer, a first plant of the plurality of plants inthe image by identifying a plant feature for the plant in the pluralityof pixels; determining, by the computer and based on the identifiedplant feature, output parameters for an electromagnetic wave configuredto necrose the identified first plant when applied by a treatmentmechanism; identifying, by the computer and based on the identifiedplant feature, a treatment position in the field for necrosing theidentified first plant based on the identified plant feature;positioning the treatment mechanism such that an active area of thetreatment mechanism aligns with the treatment position for theidentified first plant; and treating the first plant by operating thetreatment mechanism to apply the electromagnetic wave to cauterize thefirst plant according to the determined output parameters.
 2. The methodof claim 1, wherein identifying a plant feature for the first plant inthe plurality of pixels comprises classifying the plant feature as asupport structure of the first plant superior to a substrate in thefield.
 3. The method of claim 1, wherein positioning the treatmentmechanism such that an active area of the treatment mechanism alignswith the treatment position for the identified first plant comprisesaligning the treatment area of the treatment mechanism to a supportstructure of the identified first plant.
 4. The method of claim 1,wherein classifying the first plant in the image by identifying theplant feature for the first plant in the plurality of pixels: access amachined learned model configured to classify pixels as plants; applythe machine learned model to the image, the machine learned modelextracting one or more plant features values indicating one are morepixels in the image represent the first plant; and classify the pixelsin the image as the first plant based on the extracted plant featurevalues.
 5. The method of claim 1, further comprising: capturing anadditional image of the first plant after necrosing the first plant; andidentifying an effect of the treatment on the identified first plantbased on the additional image.
 6. The method of claim 5, furthercomprising: determining, by the computer and based on the identifiedeffect of the treatment on the identified first plant, a set of newoutput parameters for a subsequent electromagnetic wave configured tonecrose additional plants when applied by the treatment mechanism. 7.The method of claim 6, further comprising: identifying a second plant ofthe plurality of plants in the field based using images of the fieldcaptured by the farming machine; and treating the second plant byoperating the treatment mechanism to apply the electromagnetic wave tocauterize the second plant according to the new output parameters. 8.The method of claim 1, wherein determining output parameters for anelectromagnetic wave to necrose the identified first plant when appliedby a treatment mechanism comprises identifying a wavelength of theelectromagnetic wave to necrose the first plant based on the identifiedplant feature.
 9. The method of claim 1, wherein determining outputparameters for an electromagnetic wave to necrose the identified firstplant when applied by a treatment mechanism comprises identifying avoltage or a current of the electromagnetic wave to necrose the firstplant based on the identified plant feature.
 10. The method of claim 1,wherein generating treatment instructions for the first plant comprises:accessing target plant parameters for the field; and generating outputparameters for the electromagnetic wave based on the target plantparameters.
 11. A farming machine comprising: a camera system configuredto capture an image of a field comprising a plurality of plants as thefarming machine travels through the field; a treatment mechanismconfigured to generate directional energy treatments to eliminate plantsin the field; one or more processors physically attached to the farmingmachine; a non-transitory computer readable storage medium storingcomputer program instructions that, when executed by the one or moreprocessors, cause the one or more processors to: access an image of thefield comprising the plurality of plants, the image comprising aplurality of pixels and captured by a farming machine moving through thefield; classify, with the one or more processors, a first plant of theplurality of plants in the image by identifying a plant feature for theplant in the plurality of pixels; determine, with the one or moreprocessors and based on the identified plant feature, output parametersfor an electromagnetic wave configured to necrose the identified firstplant when applied by the treatment mechanism; identify, with the one ormore processors and based on the identified plant feature, a treatmentposition in the field for necrosing the identified first plant based onthe identified plant feature; position the treatment mechanism such thatan active area of the treatment mechanism aligns with the treatmentposition for the identified first plant; and treat the first plant byoperating the treatment mechanism to apply the electromagnetic wave tocauterize the first plant according to the determined output parameters.12. The non-transitory computer readable storage medium of claim 11,wherein executing computer program instructions for identifying a plantfeature for the first plant in the plurality of pixels further causesthe one or more processor to classify the plant feature as a supportstructure of the first plant superior to a substrate in the field. 13.The non-transitory computer readable storage medium of claim 11, whereinexecuting the computer program instructions for positioning thetreatment mechanism such that an active area of the treatment mechanismaligns with the treatment position for the identified first plant causesthe one or more processors to align the treatment area of the treatmentmechanism to a support structure of the identified first plant.
 14. Thenon-transitory computer readable storage medium of claim 11, whereinexecuting the computer program instructions for classifying the firstplant in the image by identifying the plant feature for the first plantin the plurality of pixels further causes the one or more processors to:access a machined learned model configured to classify pixels as plants;apply the machine learned model to the image, the machine learned modelextracting one or more plant features values indicating one are morepixels in the image represent the first plant; and classify the pixelsin the image as the first plant based on the extracted plant featurevalues.
 15. The non-transitory computer readable storage medium of claim11, wherein executing the computer program instructions further causesthe one or more processors to: capture an additional image of the firstplant after necrosing the plant; and identify an effect of the treatmenton the identified first plant based on the additional image.
 16. Thenon-transitory computer readable storage medium of claim 15, whereinexecuting the computer program instructions further causes the one ormore processors to: determine, by the computer and based on theidentified effect of the treatment on the identified first plant, a setof new output parameters for a subsequent electromagnetic waveconfigured to necrose additional plants when applied by the treatmentmechanism.
 17. The non-transitory computer readable storage medium ofclaim 16, wherein executing the computer program instructions furthercauses the one or more processors to: identify a second plant of theplurality of plants in the field based using images of the fieldcaptured by the farming machine; and treat the second plant by operatingthe treatment mechanism to apply the electromagnetic wave to cauterizethe second plant according to the new output parameters.
 18. Thenon-transitory computer readable storage medium of claim 11, whereinexecuting the computer program instructions for determining outputparameters for an electromagnetic wave to necrose the identified firstplant when applied by a treatment mechanism further causes the one ormore processors to identify a wavelength of the electromagnetic wave tonecrose the first plant based on the identified plant feature.
 19. Thenon-transitory computer readable storage medium of claim 11, whereinexecuting the computer program instructions for determining outputparameters for an electromagnetic wave to necrose the identified firstplant when applied by a treatment mechanism further causes the one ormore processors to identify a voltage or a current of theelectromagnetic wave to necrose the first plant based on the identifiedplant feature.
 20. The non-transitory computer readable storage mediumof claim 11, wherein executing the computer program instructions furthercauses the one or more processors to: access target plant parameters forthe field; and generate output parameters for the electromagnetic wavebased on the target plant parameters.